A New LP-based Obstacle-avoided Model in Path Planning Problem

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	A New LP-based Obstacle-avoided Model in Path Planning Problem
	Yang LY(杨丽英); Wu CD(吴成东); Han JD(韩建达); Zhao XG(赵新刚); Nie YY(聂义勇)
	2009
会议名称	21st Chinese Control and Decision Conference
会议日期	June 17-19, 2009
会议地点	Guilin, China
关键词	Path Planning Linear Programming Obstacle avoidance Collision predication
页码	3695-3699
通讯作者	杨丽英
中文摘要	A new linear programming obstacle-avoided model is presented in target pursuit and obstacle-avoided problem. The obstacle-avoided model only has the linear program once for obstacle avoidance at one time step. The collision forecasting domain of vehicle and obstacle is obtained, which can prevent the happening of collision between vehicle and obstacle. In the target pursuit problem, the dynamic equation of mass point with linear damping is taken as the state equation of vehicle's motion. "Expansible Target Size" is proposed to describe the pursuit process for target. The Linear programming method is used to model and solve the obstacle-avoided pursuit problem. Finally, simulation is given to show the efficiency of the method.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	NE Univ, IEEE Ind Elect Singapore Chapter, Guilin Univ Elect Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc
会议录	CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2723-9
WOS记录号	WOS:000274047201122
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8496]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yang LY,Wu CD,Han JD,et al. A New LP-based Obstacle-avoided Model in Path Planning Problem[C]. 见:21st Chinese Control and Decision Conference. Guilin, China. June 17-19, 2009.