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题名: LP-based optimal path planning in acceleration space
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: IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期: December 17-20, 2006
会议地点: Kunming, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1340-1345
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0570-1
关键词: path planning ; linear programming ; target pursuit and obstacle avoidance ; dynamic environment
摘要: This paper proposed Acceleration Space Linear Programming (ASLP) method for the path planning of target pursuit and obstacles avoidance (TPOA) problem in dynamic and uncertain environment. The acceleration space for TPOA problem is defined and LP algorithm is introduced into it. LP is a powerful tool for optimization but exhibits weakness when there exist nonlinear constraints or objective function. In the proposed acceleration space, the constraints and objective function of TOPA problems are inherently described as linear inequalities that can be directly solved by LP. Also, the complexity in obstacle contour does not increase the computational burden of the ASLP. Simulations are conduced with respect to the TPOA scenario including one moving target and multiple moving obstacles. The results obtained by ASLP are presented and compared with those of artificial potential guided evolution algorithm (APEA). Significant superior is demonstrated in many aspects by the comparison.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8764
Appears in Collections:机器人学研究室_会议论文

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