中国科学院软件研究所机构知识库
Advanced  
ISCAS OpenIR  > 互联网软件技术实验室  > 期刊论文
题名:
a real-time path planning approach without the computation of cspace obstacles
作者: Wang Yongji ; Han Liu ; Li Mingshu ; Wang Qing ; Zhou Jinhui ; Cartmell Matthew
刊名: Cambridge University Press
发表日期: 2004
卷: 22, 期:2, 页:173-187
收录类别: ei ; sci
部门归属: 互联网软件技术实验室
摘要: An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.
语种: 英语
WOS记录号: WOS:000220907800005
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.iscas.ac.cn/handle/311060/2747
Appears in Collections:互联网软件技术实验室 _期刊论文

Files in This Item:
File Name/ File Size Content Type Version Access License
20042202173.pdf(1445KB)----限制开放-- 联系获取全文

Recommended Citation:
Wang Yongji,Han Liu,Li Mingshu,et al. a real-time path planning approach without the computation of cspace obstacles[J]. Cambridge University Press,2004-01-01,22(2):173-187.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Wang Yongji]'s Articles
[Han Liu]'s Articles
[Li Mingshu]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Wang Yongji]‘s Articles
[Han Liu]‘s Articles
[Li Mingshu]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2017  中国科学院软件研究所 - Feedback
Powered by CSpace