PROBABILITY SNAKE BASED PATH PLANNING IN DISTRIBUTED INTELLIGENT ENVIRONMENT

摘要：

A new probability-based snake model is proposed to fulfill path planning in the distributed intelligent environment where the dynamic obstacles exist. Firstly, a multi-step Kalman Filter algorithm is used to predict the position of the obstacles, and taking the probability of the prediction into consideration, an error ellipse is employed to reflect the uncertainty. Secondly, the moving direction of the obstacle is very important to the safety of the robot, the direction correlation coefficient is introduced to show the doubtfulness of collision. Finally, take these two stochastic influences and the distributed intelligent environment characteristic into account a probability-based snake path planning algorithm is formed. The simulation experiments show the effect of this algorithm at the end of paper.

关键词： distributed environment dynamic obstacles multi-step prediction probability-based snake

作者: Z.Wang X.N.Wang J.Zhu P.Jiang

作者单位: Department of Control Theory and Control Engineering, Tongji University, Shanghai 201804, China

会议类型: 国际会议

会议名称: 2012 International Conference on System Simulation(2012年国际系统仿真学术会议)

会议地点: 上海

会议语种:英文

页码: 185-191

在线出版日期: 2012-04-06（万方平台首次上网日期，不代表论文的发表时间）