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Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints
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
会议录名称Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1692-1697
收录类别EI ; CPCI(ISTP)
EI收录号20161802327773
WOS记录号WOS:000380476200282
产权排序1
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
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被引频次:1[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/173321/18618
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation(SIA), Chinese Academy of Sciences(CAS), Shenyang, Liaoning Province, 110016, China
2.CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, Vandoeuvre-Les-Nancy, 54506, France
3.University of Chinese Academy of Sciences, Beijing, China
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Qi X,Theilliol, Didier,Song DL,et al. Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints[C]. Piscataway, NJ, USA:IEEE,2015:1692-1697.
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