Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints
文献类型：会议论文
| 作者 | Qi X(齐欣); Theilliol, Didier; Song DL(宋大雷) ; Han JD(韩建达)
|
| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 |
| 会议日期 | December 6-9, 2015 |
| 会议地点 | Zhuhai, China |
| 页码 | 1692-1697 |
| 中文摘要 | Autonomous vehicles require the ability to safely operate under both external environment constraints such as obstacles, and their own limits such as dynamic conditions. The problem of planning feasible control reference inputs against both constraints is still an open question. In this paper, the contribution is to propose an Invariant-Set-Based Planning (ISBP) approach which can move a vehicle from an initial point to a goal point by calculating feasible control reference inputs with satisfying both constraints simultaneously. A series of invariant sets will be calculated to cover feasible path and system input constraints will be novelly modified to calculate each invariant set. Finally, ISBP approach will be achieved by solving a set of linear matrix inequalities (LMIs). |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-9674-5 |
| WOS记录号 | WOS:000380476200282 |
| 源URL | [http://ir.sia.cn/handle/173321/18618]  |
| 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 | Qi X,Theilliol, Didier,Song DL,et al. Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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