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题名: Acceleration space LP for the path planning of dynamic target pursuit and obstacle avoidance
作者: Zu D(祖迪) ; Han JD(韩建达) ; Tan DL(谈大龙)
作者部门: 机器人学研究室
会议名称: 6th World Congress on Intelligent Control and Automation
会议日期: June 21-23, 2006
会议地点: Dalian, China
会议主办者: Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
会议录: WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 9084-9088
收录类别: CPCI(ISTP) ; EI
ISBN号: 1-4244-0331-6
关键词: path planning ; target pursuit ; obstacle avoidance ; linear programming ; dynamic uncertain environment
摘要: Linear programming (LP) is powerful to solve the constrained optimization problems in planning and control. But in the dynamic target pursuit and obstacle avoidance (TPOA) problem, LP suffers from nonlinearity in either the objective function or the constraints. This paper proposes an acceleration space LP. It describes the TPOA problem as several linear inequalities that are easily solved by LP and can be applied to the problem with any shape of obstacles. Moreover, it makes an active planning based on the velocities of the vehicle relative to the obstacles and target. Simulation is given to illustrate the main ideas.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8531
Appears in Collections:机器人学研究室_会议论文

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