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题名: Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints
作者: Qi X(齐欣); Theilliol, Didier; Song DL(宋大雷); Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期: December 6-9, 2015
会议地点: Zhuhai, China
会议录: Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1692-1697
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4673-9674-5
摘要: Autonomous vehicles require the ability to safely operate under both external environment constraints such as obstacles, and their own limits such as dynamic conditions. The problem of planning feasible control reference inputs against both constraints is still an open question. In this paper, the contribution is to propose an Invariant-Set-Based Planning (ISBP) approach which can move a vehicle from an initial point to a goal point by calculating feasible control reference inputs with satisfying both constraints simultaneously. A series of invariant sets will be calculated to cover feasible path and system input constraints will be novelly modified to calculate each invariant set. Finally, ISBP approach will be achieved by solving a set of linear matrix inequalities (LMIs).
语种: 英语
产权排序: 1
WOS记录号: WOS:000380476200282
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18618
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Qi X,Theilliol, Didier,Song DL,et al. Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.
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文件名: Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints.pdf
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