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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)
Conference Name8th International Conference on Intelligent Robotics and Applications (ICIRA)
Conference DateAUG 24-27, 2015
Conference PlacePortsmouth, ENGLAND
Publication PlaceBERLIN
Indexed ByEI ; CPCI(ISTP)
EI Accession number20155301741259
WOS IDWOS:000363957900024
Contribution Rank1
ISBN978-3-319-22876-1; 978-3-319-22875-4
KeywordPath Reshaping Curvature Continuous Disturbance Rejection
AbstractA 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.
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Document Type会议论文
Affiliation1.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
Recommended Citation
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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