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题名: Online path planning based on MILP for unmanned surface vehicles
作者: Leng J(冷静) ; Liu J(刘健) ; Xu HL(徐红丽)
作者部门: 海洋信息技术装备中心
会议名称: OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common
会议日期: September 23-26, 2013
会议地点: San Diego, CA, United states
会议录: OCEANS 2013 MTS/IEEE; San Diego: An Ocean in Common
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2013
收录类别: CPCI(ISTP) ; EI
关键词: Algorithms ; Embedded systems ; Linear programming ; Mathematical transformations ; Oceanography
摘要: This paper presents an algorithm for online path planning of USVs to navigate safely in dynamic, sophisticated environments of oceans. The proposed algorithm is based on Mixed Integer Linear Programming (MILP) which integrated with Velocity Obstacle (VO) approach. MILP is an optimization method under multiple constraint conditions of objective function maximization or minimization. The constraints of environment and maneuverability all can be considered and appended to the constraints conditions expressed in the form of inequality. The objective function and constraint conditions are required in linear by MILP, however, the motion of USV and its path planning are nonlinear. So the principle problem is to transform the nonlinear problem into the linear problem. On the other hand, VO makes a linear prediction, which is well appended into the constraint conditions. MILP has advantages in astringency, optimization, real-time and VO also has the advantages in real-time. The combination of MILP and VO utilized the advantages of rapidity of computations, which is well suited for embedded system of robotic applications. The algorithm is demonstrated via simulation with more safety and acclimation in sophisticated environments of oceans.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/14572
Appears in Collections:海洋信息技术装备中心_会议论文

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