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Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space
Chen Y(陈洋); Han JD(韩建达); Wu HY(吴怀宇)
Department机器人学研究室
Source PublicationCHINESE JOURNAL OF MECHANICAL ENGINEERING
ISSN1000-9345
2012
Volume25Issue:4Pages:665-673
Indexed BySCI ; EI ; CSCD
EI Accession number20123615396436
WOS IDWOS:000306382600005
CSCD IDCSCD:4584390
Contribution Rank1
Funding OrganizationThis project is partially supported by National Natural Science Foundation of China (Grant Nos. 61035005, 61075087), Hubei Provincial Natural Science Foundation of China (Grant No. 2010CDA005), and Hubei Provincial Education Department Foundation of China (Grant No. Q20111105)
KeywordPath PlannIng In Three-dimensional Space Obstacle Avoidance Target Pursuit Relative Velocity Coordinates Quadratic Programming
AbstractPath planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades. The major difficulties are that most of existing methods only adapt to static environment instead of dynamic one, and also can not solve the inherent constraints arising from the robot body and the exterior environment. To address these difficulties, this research aims to provide a feasible trajectory based on quadratic programming(QP) for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic obstacles. First, the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target, as well as the angle between the velocity and the position in the relative velocity coordinates(RVCs). The optimization is in quadratic polynomial form according to QP formulation. Then, the avoidance task is modeled with linear constraints in RVCs. Some other constraints, such as kinematics, dynamics, and sensor range, are included. Last, simulations with typical multiple obstacles are carried out, including in static and dynamic environments and one of human-in-the-loop. The results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required performances. Therefore, the QP model proposed in this paper not only adapts to dynamic environment with uncertainty, but also can satisfy all kinds of constraints, and it provides an efficient approach to solve the problems of path planning in three-dimensional space.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical
WOS KeywordTIME OBSTACLE AVOIDANCE ; OPTIMIZATION ; ALGORITHM
WOS Research AreaEngineering
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10033
Collection机器人学研究室
Corresponding AuthorHan JD(韩建达)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
3.Graduate School, Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Chen Y,Han JD,Wu HY. Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2012,25(4):665-673.
APA Chen Y,Han JD,&Wu HY.(2012).Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space.CHINESE JOURNAL OF MECHANICAL ENGINEERING,25(4),665-673.
MLA Chen Y,et al."Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space".CHINESE JOURNAL OF MECHANICAL ENGINEERING 25.4(2012):665-673.
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