SIA OpenIR  > 机器人学研究室
Generation of dynamically feasible and collision free trajectory by applying six-order Bezier curve and local optimal reshaping
Yang L(杨亮); Song DL(宋大雷); Xiao JZ(肖继忠); Han JD(韩建达); Yang LY(杨丽英); Cao Y(曹阳)
作者部门机器人学研究室
会议名称2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议日期September 28 - October 2, 2015
会议地点Hamburg, Germany
会议录名称2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码643-648
收录类别EI ; CPCI(ISTP)
EI收录号20160801971065
WOS记录号WOS:000371885400094
产权排序1
ISBN号978-1-4799-9994-1
摘要This paper considers the problem of generating dynamically feasible and collision free trajectory for unmanned aerial vehicles(UAVs) in cluttered environments. General random-based searching algorithms output piecewise linear paths, which cause big discrepancy when used as navigation reference for UAVs with high speed. Meanwhile, the disturbance may also occur to lead the UAVs into danger. In order to obtain agile autonomy without potential dangers, this paper introduces a three-step method to generate feasible reference. In the first step, a six-order Bezier curve, which uses Tuning Rotation to decrease the curvature, is introduced to smooth the output of the path planner. Then a forward simulation is implemented to find the potential dangerous regions. Finally, the path is reshaped by local optimal reshaping planner to eliminate residual dangers. The three steps form a circulation, the reshaped path sent to the first step again to check dynamic feasibility and safety. The method combining Six-order Bezier curve, Tuning Rotation, and local optimal reshaping is proposed by us for the first time, where the Tuning Rotation is able to meet various curvature requirements without violating the previous path, local optimal reshaping obtains both temporal and spatial reshaping with high time efficiency. The method addresses the system dynamics to achieve agile autonomy, which provides the geometry reference as well as the low level control. The effectiveness of the proposed method is demonstrated by the simulations.
语种英语
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17460
专题机器人学研究室
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Electrical Engineering, City College, City University of New York, New York, United States
4.School of Software Engineering, USTC, China
推荐引用方式
GB/T 7714
Yang L,Song DL,Xiao JZ,et al. Generation of dynamically feasible and collision free trajectory by applying six-order Bezier curve and local optimal reshaping[C]. Piscataway, NJ, USA:IEEE,2015:643-648.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Generation of dynami(783KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yang L(杨亮)]的文章
[Song DL(宋大雷)]的文章
[Xiao JZ(肖继忠)]的文章
百度学术
百度学术中相似的文章
[Yang L(杨亮)]的文章
[Song DL(宋大雷)]的文章
[Xiao JZ(肖继忠)]的文章
必应学术
必应学术中相似的文章
[Yang L(杨亮)]的文章
[Song DL(宋大雷)]的文章
[Xiao JZ(肖继忠)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Generation of dynamically feasible and collision free trajectory by applying six-order Bezier curve and local optimal reshaping.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。