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题名: An Analytical Local Reshaping Algorithm
作者: 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: INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
会议录出版者: SPRINGER-VERLAG
会议录出版地: BERLIN
出版日期: 2015
页码: 272-283
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000363957900024
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17215
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Yang L,Qi JT,Yang LY,et al. An Analytical Local Reshaping Algorithm[C]. 见:8th International Conference on Intelligent Robotics and Applications (ICIRA). Portsmouth, ENGLAND. AUG 24-27, 2015.
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