An Analytical Local Reshaping Algorithm
文献类型：会议论文
| 作者 | Yang L(杨亮) ; Qi JT(齐俊桐); Yang LY(杨丽英); Cao Y(曹阳); Han JD(韩建达)
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| 出版日期 | 2015 |
| 会议日期 | AUG 24-27, 2015 |
| 会议地点 | Portsmouth, ENGLAND |
| 关键词 | Path Reshaping Curvature Continuous Disturbance Rejection |
| 页码 | 272-283 |
| 英文摘要 | A dynamic threat and disturbance rejected path reshaping method is proposed. The method is based upon parametric Bezier curve called Local Optimal Reshaping(LOR), which is easy to adjust the reference velocity for navigation. Before implementation, only minimal safe margin and maximum curvature are needed. The method also purposefully biases the reshaping region of each node, thus, it is computational efficient with easy implementation. Three parts are included in the whole path planner, which are kinematic path planner, disturbance rejector with path smoother, and dynamic threat avoided planner, respectively. LOR acts as main effector in disturbance rejector and dynamic threat avoided planner. Comparative simulations are provided in this paper, and results show that our method has good performance in tackling disturbance and dynamic threats. |
| 产权排序 | 1 |
| 会议录 | INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
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| 会议录出版者 | SPRINGER-VERLAG |
| 文献子类 | 会议论文 |
| 会议录出版地 | BERLIN |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-319-22876-1; 978-3-319-22875-4 |
| WOS记录号 | WOS:000363957900024 |
| 源URL | [http://ir.sia.cn/handle/173321/17215]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Department of Electrical Engineering, The City College, City University of New York, New York, United States |
| 推荐引用方式 GB/T 7714 | Yang L,Qi JT,Yang LY,et al. An Analytical Local Reshaping Algorithm[C]. 见:. Portsmouth, ENGLAND. AUG 24-27, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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