Computation of Reachable Sets Based on Hamilton-Jacobi-Bellman Equation with Running Cost Function
Abstract
A novel method for computing reachable sets is proposed in this paper. In the proposed method, a Hamilton-Jacobi-Bellman equation with running cost functionis numerically solved and the reachable sets of different time horizons are characterized by a family of non-zero level sets of the solution of the Hamilton-Jacobi-Bellman equation. In addition to the classical reachable set, by setting different running cost functions and terminal conditionsof the Hamilton-Jacobi-Bellman equation, the proposed method allows to compute more generalized reachable sets, which are referred to as cost-limited reachable sets. In order to overcome the difficulty of solving the Hamilton-Jacobi-Bellman equation caused by the discontinuity of the solution, a method based on recursion and grid interpolation is employed. At the end of this paper, some examples are taken to illustrate the validity and generality of the proposed method.
Cite
@article{arxiv.2107.11941,
title = {Computation of Reachable Sets Based on Hamilton-Jacobi-Bellman Equation with Running Cost Function},
author = {Weiwei Liao and Tao Liang},
journal= {arXiv preprint arXiv:2107.11941},
year = {2022}
}