Control of behavior dynamics for motion planning of mobile robots in uncertain environments
文献类型：会议论文
| 作者 | Jing XJ(景兴建); Wang YC(王越超)
|
| 出版日期 | 2005 |
| 会议名称 | IEEE International Conference on Mechatronics (ICM) |
| 会议日期 | July 10-12, 2005 |
| 会议地点 | Taipei, TAIWAN |
| 关键词 | motion planning mobile robots uncertain environment behavior dynamics |
| 页码 | 364-369 |
| 中文摘要 | This paper provides a new approach to the dynamic motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics from an optimal control point of view. The fundamental behavior of a mobile robot in motion planning is regarded as a dynamic process of the interaction between the robot and its local environment, and then it is modeled and controlled for the motion planning purpose. Based on the optimal control of the behavior dynamics, the dynamic motion-planning problem can be transformed into a conventional optimization problem in the robot's acceleration space, and the optimal motion behavior of the mobile robot can be obtained on line. No restrictions are assumed on the shape and trajectories of obstacles. Collision avoidance between multiple mobile robots can also be realized. Stability of the whole planning-and-control system can be guaranteed. Simulations illustrate our results. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Ind Elect Soc, Chinese Inst Automat Engineers, Natl Sci Council, Minist Educ, Natl Chung Cheng Univ, Natl Taiwan Univ, Natl Cheng Kung Univ |
| 会议录 | 2005 IEEE International Conference on Mechatronics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-8998-0 |
| WOS记录号 | WOS:000234378800068 |
| 源URL | [http://ir.sia.cn/handle/173321/8616]  |
| 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 | Jing XJ,Wang YC. Control of behavior dynamics for motion planning of mobile robots in uncertain environments[C]. 见:IEEE International Conference on Mechatronics (ICM). Taipei, TAIWAN. July 10-12, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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