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题名: MILP-based trajectory generation in relative velocity coordinates
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: 46th IEEE Conference on Decision and Control
会议日期: December 12-14, 2007
会议地点: New Orleans, LA
会议主办者: IEEE Control Syst Soc, United Technologies, Springer, Wiley Blackwell, Taylor & Francis, Princeton Univ Press, Maplesoft, Siam
会议录: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 3420-3425
收录类别: CPCI(ISTP) ; EI
ISSN号: 0191-2216
ISBN号: 978-1-4244-1497-0
摘要: Mixed-integer linear programming (MILP) for trajectory generation of mobile robot suffers from nonlinear constraints due to complex obstacle contours and dynamic environment. In this paper, relative velocity coordinates (RVCs) are proposed for solving the target pursuit and multiple-obstacle avoidance (TPMOA) problem. In the proposed RVCs, nonlinear constraints can be inherently described as linear inequalities, which allow MILP to be utilized to find the optimal trajectory satisfying the linear inequalities. The complexity of obstacle contour does not increase the computational load of the proposed approach. Simulation results are presented in comparison with those of evolutionary algorithm (EA), showing significant improvement in a number of aspects.
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/173321/8774
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
祖迪; 韩建达; 谈大龙 .MILP-based trajectory generation in relative velocity coordinates.见:IEEE .PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14,NEW YORK,2007,3420-3425
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