Title :
A new LP-based obstacle-avoided model in path planning problem
Author :
Liying, Yang ; Chengdong, Wu ; Jianda, Han ; Xingang, Zhao ; Nie, Yiyong
Author_Institution :
State Key Lab. of Robot., CAS, Shenyang, China
Abstract :
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 vehicle´s motion. ldquoExpansible target sizerdquo 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.
Keywords :
collision avoidance; linear programming; LP-based obstacle-avoided model; collision forecasting; expansible target size; linear damping; linear programming; mass point dynamic equation; obstacle-avoided pursuit problem; path planning problem; state equation; target pursuit problem; vehicle motion; Acceleration; Content addressable storage; Electronic mail; Equations; Laboratories; Linear programming; Path planning; Robotics and automation; Trajectory; Vehicle dynamics; Collision predication; Linear Programming; Obstacle avoidance; Path Planning;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5192391
