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Receding horizon control for mobile robot path planning in unknown dynamic environments
Chen Y(陈洋); Cheng L(程磊); Wu HY(吴怀宇); Yang YH(杨艳华)
作者部门机器人学研究室
会议名称26th Chinese Control and Decision Conference, CCDC 2014
会议日期May 31, 2014 - June 2, 2014
会议地点Changsha, China
会议录名称26th Chinese Control and Decision Conference, CCDC 2014
出版者IEEE Computer Society
出版地Washington, DC
2014
页码1505-1509
收录类别EI ; CPCI(ISTP)
EI收录号20143218039257
WOS记录号WOS:000343577701126
产权排序2
ISBN号978-1-4799-3706-6
关键词Collision Avoidance Mobile Robots Quadratic Programming Robot Applications
摘要Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control (RHC) for mobile robot path planning in which the obstacle avoidance problem is converted into mathematic constraint. Besides, the distance from target to robot is optimized through involving a quadratic cost function. Finally, a quadratic constrained quadratic programming (QCQP) is generated, from which a sequence including multiple control steps is easily obtained. Based on the proposed approach, simulations are demonstrated to verify the effectiveness of the novel method. © 2014 IEEE.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15160
专题机器人学研究室
作者单位1.Wuhan University of Science and Technology, Wuhan 430081, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Chen Y,Cheng L,Wu HY,et al. Receding horizon control for mobile robot path planning in unknown dynamic environments[C]. Washington, DC:IEEE Computer Society,2014:1505-1509.
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