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Path planning methods for mobile robots with linear programming
Yang LY(杨丽英); Qi JT(齐俊桐); Han JD(韩建达)
作者部门机器人学研究室
会议名称2012 International Conference on Modelling, Identification and Control, ICMIC 2012
会议日期June 24-26, 2012
会议地点Wuhan, China
会议主办者IEEE Shanghai Section; International Journal of Modelling, Identification and Control; International Journal of Computer Applications and Technology; Huazhong University of Science and Technology; Wuhan University of Science and Technology
会议录名称Proceedings of 2012 International Conference on Modelling, Identification and Control, ICMIC 2012
出版者IEEE Computer Society
出版地Washington, DC, United States
2012
页码641-646
收录类别EI
EI收录号20124015531624
产权排序1
ISBN号978-0-9567157-1-5
关键词Identification (Control Systems) Linear Programming
摘要In this paper, the path planning method with two different obstacle avoiding models are proposed to solve the target pursuit and obstacle avoid problem (TPOA). Both of the models are originated from linear programming (LP). One model introduced integer variable to describe the relative position of robot and obstacles, then MILP based obstacle-avoided model is built; the other used a tangent line to define the feasible and infeasible region of robot in obstacle area, thus LP based obstacle-avoided constraints are given. Simulations are demonstrated comparatively to show the effectiveness of the proposed methods. © 2012 Huazhong Univ of Sci & Tec.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10104
专题机器人学研究室
通讯作者Yang LY(杨丽英)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), China
推荐引用方式
GB/T 7714
Yang LY,Qi JT,Han JD. Path planning methods for mobile robots with linear programming[C]//IEEE Shanghai Section; International Journal of Modelling, Identification and Control; International Journal of Computer Applications and Technology; Huazhong University of Science and Technology; Wuhan University of Science and Technology. Washington, DC, United States:IEEE Computer Society,2012:641-646.
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