A New LP-based Obstacle-avoided Model in Path Planning Problem
文献类型：会议论文
| 作者 | 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)
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| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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