Acceleration space LP for the path planning of dynamic target pursuit and obstacle avoidance

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Acceleration space LP for the path planning of dynamic target pursuit and obstacle avoidance
	Zu D(祖迪); Han JD(韩建达); Tan DL(谈大龙)
	2006
会议名称	6th World Congress on Intelligent Control and Automation
会议日期	June 21-23, 2006
会议地点	Dalian, China
关键词	path planning target pursuit obstacle avoidance linear programming dynamic uncertain environment
页码	9084-9088
通讯作者	祖迪
中文摘要	Linear programming (LP) is powerful to solve the constrained optimization problems in planning and control. But in the dynamic target pursuit and obstacle avoidance (TPOA) problem, LP suffers from nonlinearity in either the objective function or the constraints. This paper proposes an acceleration space LP. It describes the TPOA problem as several linear inequalities that are easily solved by LP and can be applied to the problem with any shape of obstacles. Moreover, it makes an active planning based on the velocities of the vehicle relative to the obstacles and target. Simulation is given to illustrate the main ideas.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
会议录	WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	1-4244-0331-6
WOS记录号	WOS:000241773209253
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8531]
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	Zu D,Han JD,Tan DL. Acceleration space LP for the path planning of dynamic target pursuit and obstacle avoidance[C]. 见:6th World Congress on Intelligent Control and Automation. Dalian, China. June 21-23, 2006.