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题名: A Solution of Mixed Integer Linear Programming for Obstacle-Avoided Pursuit Problem
作者: Yang LY(杨丽英) ; Han JD(韩建达) ; Wu CD(吴成东) ; Nie YY(聂义勇)
作者部门: 机器人学研究室
会议名称: International Joint Conference on Neural Networks
会议日期: June 1-8, 2008
会议地点: Hong Kong, China
会议主办者: IEEE
会议录: 2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 110-116
收录类别: CPCI(ISTP) ; EI
ISSN号: 1098-7576
ISBN号: 978-1-4244-1820-6
摘要: In this paper the path planning for obstacle-avoided pursuit problem (OAP) is studied. The OAP models based on the mixed integer linear programming (MILP) is presented. In the OAP models, the dynamic equation of mass point with linear damping is taken as the state equation of vehicle's motion. Integer variables are used to describe the relative position of vehicle and obstacles. "Expansible Target Size" is proposed to describe the pursuit process for target step-by-step. "Pursuit Direction" of vehicle is defined. The Isometric Plane Method selected integer variables is used to solve MILP pursuit problem. How to select the integer variables of inner point is also given. Finally, simulations are given to show the efficiency of the method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8521
Appears in Collections:机器人学研究室_会议论文

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杨丽英; 韩建达; 吴成东; 聂义勇.A Solution of Mixed Integer Linear Programming for Obstacle-Avoided Pursuit Problem.见:IEEE .2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8,NEW YORK,2008,110-116
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