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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)
Department机器人学研究室
Conference Name2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference DateSeptember 28 - October 2, 2015
Conference PlaceHamburg, Germany
Source Publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages643-648
Indexed ByEI ; CPCI(ISTP)
EI Accession number20160801971065
WOS IDWOS:000371885400094
Contribution Rank1
ISBN978-1-4799-9994-1
AbstractThis 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.
Language英语
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17460
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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.
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