A New LP-based Obstacle-avoided Model in Path Planning Problem
A new linear programming obstacle-avoided model is presented in target pursuit and obstacle-avoided problem. The obstacle-avoided model only has the linear program once for obstacle avoidance at one time step. The collision forecasting domain of vehicle and obstacle is obtained, which can prevent the happening of collision between vehicle and obstacle. In the target pursuit problem, the dynamic equation of mass point with linear damping is taken as the state equation of vehicles motion. “Expansible Target Size is proposed to describe the pursuit process for target. The Linear programming method is used to model and solve the obstacle-avoided pursuit problem. Finally, simulation is given to show the efficiency of the method.
Path Planning Linear Programming Obstacle avoidance Collision predication
Yang Liying Wu Chengdong Han Jianda Zhao Xingang NIE Yiyong
State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110015 Graduate Sc School of Information Science & Engineering, Northeast University, Shenyang 110004 State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110015
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
3695-3699
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）