Receding horizon control for mobile robot path planning in unknown dynamic environments
文献类型：会议论文
| 作者 | Chen Y(陈洋); Cheng L(程磊); Wu HY(吴怀宇); Yang YH(杨艳华) |
| 出版日期 | 2014 |
| 会议名称 | 26th Chinese Control and Decision Conference, CCDC 2014 |
| 会议日期 | May 31, 2014 - June 2, 2014 |
| 会议地点 | Changsha, China |
| 关键词 | Collision avoidance Mobile robots Quadratic programming Robot applications |
| 页码 | 1505-1509 |
| 中文摘要 | Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control (RHC) for mobile robot path planning in which the obstacle avoidance problem is converted into mathematic constraint. Besides, the distance from target to robot is optimized through involving a quadratic cost function. Finally, a quadratic constrained quadratic programming (QCQP) is generated, from which a sequence including multiple control steps is easily obtained. Based on the proposed approach, simulations are demonstrated to verify the effectiveness of the novel method. © 2014 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | 26th Chinese Control and Decision Conference, CCDC 2014
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-3706-6 |
| WOS记录号 | WOS:000343577701126 |
| 源URL | [http://ir.sia.cn/handle/173321/15160]  |
| 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 | Chen Y,Cheng L,Wu HY,et al. Receding horizon control for mobile robot path planning in unknown dynamic environments[C]. 见:26th Chinese Control and Decision Conference, CCDC 2014. Changsha, China. May 31, 2014 - June 2, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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