A penalty method for nonlinear programs with set exclusion constraints

A common requirement in optimal control problems arising in autonomous navigation is that the decision variables are constrained to be outside certain sets. Such set exclusion constraints represent obstacles that must be avoided by the motion system. This paper presents a simple and efficient method...

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Veröffentlicht in:	Automatica 2021-05, Vol.127
Hauptverfasser:	Hermans, Ben, Pipeleers, Goele, Patrinos, Panos
Format:	Artikel
Sprache:	eng
Online-Zugang:	Volltext
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