LP-based optimal path planning in acceleration space

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	LP-based optimal path planning in acceleration space
	Zu D(祖迪); Han JD(韩建达); Tan DL(谈大龙)
	2006
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期	December 17-20, 2006
会议地点	Kunming, China
关键词	path planning linear programming target pursuit and obstacle avoidance dynamic environment
页码	1340-1345
通讯作者	祖迪
中文摘要	This paper proposed Acceleration Space Linear Programming (ASLP) method for the path planning of target pursuit and obstacles avoidance (TPOA) problem in dynamic and uncertain environment. The acceleration space for TPOA problem is defined and LP algorithm is introduced into it. LP is a powerful tool for optimization but exhibits weakness when there exist nonlinear constraints or objective function. In the proposed acceleration space, the constraints and objective function of TOPA problems are inherently described as linear inequalities that can be directly solved by LP. Also, the complexity in obstacle contour does not increase the computational burden of the ASLP. Simulations are conduced with respect to the TPOA scenario including one moving target and multiple moving obstacles. The results obtained by ASLP are presented and compared with those of artificial potential guided evolution algorithm (APEA). Significant superior is demonstrated in many aspects by the comparison.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录	2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0570-1
WOS记录号	WOS:000245907302038
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8764]
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. LP-based optimal path planning in acceleration space[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006.