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An Analytical Local Reshaping Algorithm
Yang L(杨亮); Qi JT(齐俊桐); Yang LY(杨丽英); Cao Y(曹阳); 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272-283
收录类别EI ; CPCI(ISTP)
EI收录号20155301741259
WOS记录号WOS:000363957900024
产权排序1
ISSN号0302-9743
ISBN号978-3-319-22876-1; 978-3-319-22875-4
关键词Path Reshaping Curvature Continuous Disturbance Rejection
摘要A dynamic threat and disturbance rejected path reshaping method is proposed. The method is based upon parametric Bezier curve called Local Optimal Reshaping(LOR), which is easy to adjust the reference velocity for navigation. Before implementation, only minimal safe margin and maximum curvature are needed. The method also purposefully biases the reshaping region of each node, thus, it is computational efficient with easy implementation. Three parts are included in the whole path planner, which are kinematic path planner, disturbance rejector with path smoother, and dynamic threat avoided planner, respectively. LOR acts as main effector in disturbance rejector and dynamic threat avoided planner. Comparative simulations are provided in this paper, and results show that our method has good performance in tackling disturbance and dynamic threats.
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/173321/17215
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
推荐引用方式
GB/T 7714
Yang L,Qi JT,Yang LY,et al. An Analytical Local Reshaping Algorithm[C]. BERLIN:SPRINGER-VERLAG,2015:272-283.
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