Combinatorial Disjunctive Constraints for Obstacle Avoidance in Path Planning
Raul Garcia,Illya V. Hicks,Joey Huchette,Raul Garcia,Illya V. Hicks,Joey Huchette
We present a new approach for modeling avoidance constraints in 2D environments, in which waypoints are assigned to obstacle-free polyhedral regions. Constraints of this form are often formulated as mixed-integer programming (MIP) problems employing big-M techniques-however, these are generally not the strongest formulations possible with respect to the MIP's convex relaxation (so called ideal for...
