A novel local path planning method considering both robot posture and path smoothness
文献类型：会议论文
| 作者 | Gao Xiang; Ou Yongsheng; Fu Yiqun; Li Zhao; Dai Dawei; Cui Liangliang; Zhou Yimin; Guo Weidong |
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：深圳先进技术研究院
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