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LP-based optimal path planning in acceleration space
Zu D(祖迪); Han JD(韩建达); Tan DL(谈大龙)
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
Conference DateDecember 17-20, 2006
Conference PlaceKunming, China
Author of SourceIEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
Source Publication2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3
PublisherIEEE
Publication PlaceNEW YORK
2006
Pages1340-1345
Indexed ByEI ; CPCI(ISTP)
EI Accession number20082811359819
WOS IDWOS:000245907302038
Contribution Rank1
ISBN978-1-4244-0570-1
KeywordPath Planning Linear Programming Target Pursuit And Obstacle Avoidance Dynamic Environment
AbstractThis paper proposed Acceleration Space Linear Programming (ASLP) method for the path planning of target pursuit and obstacles avoidance (TPOA) problem in dynamic and uncertain environment. The acceleration space for TPOA problem is defined and LP algorithm is introduced into it. LP is a powerful tool for optimization but exhibits weakness when there exist nonlinear constraints or objective function. In the proposed acceleration space, the constraints and objective function of TOPA problems are inherently described as linear inequalities that can be directly solved by LP. Also, the complexity in obstacle contour does not increase the computational burden of the ASLP. Simulations are conduced with respect to the TPOA scenario including one moving target and multiple moving obstacles. The results obtained by ASLP are presented and compared with those of artificial potential guided evolution algorithm (APEA). Significant superior is demonstrated in many aspects by the comparison.
Language英语
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8764
Collection机器人学研究室
Corresponding AuthorZu D(祖迪)
Affiliation1.Graduate School, Chinese Academy of Science, Beijing, China
2.Robotics Laboratory, Chinese Academy of Science (CAS), Shenyang Institute of Automation, Shenyang, China
Recommended Citation
GB/T 7714
Zu D,Han JD,Tan DL. LP-based optimal path planning in acceleration space[C]//IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ. NEW YORK:IEEE,2006:1340-1345.
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