中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: LP-Based Path Planning for Target Pursuit and Obstacle Avoidance in 3D Relative Coordinates
作者: Chen Y(陈洋) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: American Control Conference
会议日期: June 30 - July 2, 2010
会议地点: Baltimore, MD
会议录: 2010 AMERICAN CONTROL CONFERENCE
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2010
页码: 5394-5399
收录类别: CPCI(ISTP) ; EI
ISSN号: 0743-1619
ISBN号: 978-1-4244-7427-1
摘要: A linear programming (LP) based approach is proposed for the trajectory generation in three dimensional space in which a vehicle is requested to pursue a moving target and avoid static or dynamic obstacles simultaneously. The target pursuit and obstacle avoidance (TPOA) are modeled in relative velocity coordinates, respectively, with linear constraints, according to the LP framework. Two objective functions are defined in terms of relative distance and relative velocity for the optimization. Other constraints, such as those from kinematics, dynamics, and sensor range are fully considered in the proposed method. Simulations are carried out to validate 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/173321/8765
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
HYQW000726.pdf(648KB)----开放获取View Download

Recommended Citation:
陈洋; 韩建达.LP-Based Path Planning for Target Pursuit and Obstacle Avoidance in 3D Relative Coordinates.见:IEEE .2010 AMERICAN CONTROL CONFERENCE,Piscataway, NJ, USA,2010,5394-5399
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[陈洋]'s Articles
[韩建达]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[陈洋]‘s Articles
[韩建达]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: HYQW000726.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace