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	A novel local path planning method considering both robot posture and path smoothness
	Gao Xiang; Ou Yongsheng; Fu Yiqun; Li Zhao; Dai Dawei; Cui Liangliang; Zhou Yimin; Guo Weidong
	2013
会议名称	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议地点	Shenzhen, China
英文摘要	Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and therobot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the pathsmoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robotposture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/4616]
专题	深圳先进技术研究院_集成所
作者单位	2013
推荐引用方式 GB/T 7714	Gao Xiang,Ou Yongsheng,Fu Yiqun,et al. A novel local path planning method considering both robot posture and path smoothness[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. Shenzhen, China.

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