NDLI: Robot rolling path planning with the optimization target of expected direction angle

Content Provider	IEEE Xplore Digital Library
Author	Xiao Benxian Li Yanhong Liu Gang You Kang Chen Rongbao
Copyright Year	2008
Description	Author affiliation: Inst. of Ind. Autom., Hefei Univ. of Technol., Hefei (Xiao Benxian; Li Yanhong; Liu Gang; You Kang; Chen Rongbao)
Abstract	Based-on predictive control principle, rolling planning integrates optimization with feedback strategy, and it will be helpful to overcome the respective limitation of global planning and local planning. The paper used the direction angle of polar coordinates as optimization target, inside rolling window, the method of one-step planning was adopted to realize on-line real-time path rolling planning for static and dynamic obstacles under unknown environment, also some solving schemes were presented for oscillation and deadlock problems appeared in the course of planning. Because window rolling integrates feedback initialization, so optimization is always based on local but real-time information though, environmental uncertainty and dynamic change are reflected and considered into optimization real-time, global closed-loop problem solution is obtained. Research and simulation indicates this method has strong adaptability and better rapidness & security & reachability.
Starting Page	466
Ending Page	470
File Size	260639
Page Count	5
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4605707
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Real time systems Rolling planning Path planning Expected direction angle Planning Mobile robots Mobile robot Collision avoidance Robots Optimization
Content Type	Text
Resource Type	Article

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