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UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments
Yang L(杨亮); Qi JT(齐俊桐); Cao Y(曹阳); He YQ(何玉庆); Han JD(韩建达); Xiao JZ(肖继忠)
作者部门机器人学研究室
会议名称8th International Conference on Intelligent Robotics and Applications (ICIRA)
会议日期AUG 24-27, 2015
会议地点Portsmouth, ENGLAND
会议录名称INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
出版者SPRINGER-VERLAG
出版地BERLIN
2015
页码248-259
收录类别EI ; CPCI(ISTP)
EI收录号20155301741257
WOS记录号WOS:000363957900022
产权排序1
ISSN号0302-9743
ISBN号978-3-319-22876-1; 978-3-319-22875-4
摘要A novel kinodynamic planning framework, which covers path panning, smoothing, tracking and emergency threat managing, is proposed. The framework is proposed based on sampling-based algorithm, which is improved to ensure dynamics feasibility as well as emergency threat management ability by applying Bezier curve and Extending Forbidden respectively. The Bezier curve guarantees both G(1) and G(2) continuity to decrease the tracking error of our LQI based tracking controller, where two Bezier curves with different continuity order are discussed. Extending Forbidden is firstly proposed by us to enable generating multiple paths of sampling-based algorithms, thus support on-line switching to avoid emergency threats. Our main contribution is that the proposed framework is a combination of path planning with emergency threat managing, where a time compromised moving obstacle avoiding method is proposed. Results proves the efficiency of the proposed algorithm in generating feasible trajectory for SERVOHELI-40, which not only guarantees kinematic feasible of avoiding obstacles, but also can ensure dynamics feasibility.
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/173321/17214
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Electrical Engineering, The City College, City University of New York, New York, United States
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Yang L,Qi JT,Cao Y,et al. UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments[C]. BERLIN:SPRINGER-VERLAG,2015:248-259.
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