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题名: Relative coordination 3D trajectory generation based on the trimmed ACO
作者: Chen Y(陈洋) ; Zhao XG(赵新刚) ; Zhang C(张婵) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: International Conference on Electrical and Control Engineering, ICECE 2010
会议日期: June 26-28, 2010
会议地点: Wuhan, China
会议主办者: IEEE IAS Society; Huazhong University of Science and Technology; Wuhan University of Science and Technology
会议录: Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
页码: 1531-1536
收录类别: EI
ISBN号: 9780769540313
关键词: Artificial intelligence ; Electrical engineering ; Motion planning ; Robots ; Three dimensional
摘要: Relative coordination has predominant advantage in uncertain environment path planning problem because it denies much of redundant information of the dynamic environment while avoids the rotation transformation which is a big burden in the traditional methods. Based on relative coordination, this paper proposes a trimmed Ant Colony Optimization (ACO) algorithm for three dimensional trajectory generation, i.e., path planning for target-pursuing and obstacle-avoiding (TPOA). We construct the city-map directly on the acceleration of the pursuing vehicle, an aerial robot. Then the robot's kinematics and the dynamics constraints will be embedded conveniently into the ACO formulation. As a result, the searching space in the ACO formulation shrinks greatly and the robot's movement is real and more feasible for application. This novel approach is verified by various simulations and the results show the good performance of efficiency.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8846
Appears in Collections:机器人学研究室_会议论文

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