Circular Arc Based Obstacle Avoiding Blending Trajectory plan

Huiqiao Ren, Fujisawa Katsuki

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

1 被引用数 (Scopus)

抄録

This paper works on the problem of generating a trajectory which is capable to dodge potential obstacles in a blending occasion with a non-holonomic premise. To the problem, this paper offers a solution of a circular blending curve generation with given directions, lanes and obstacle. This technique reforms the two-dimensional information into one-dimensional representation. With this trait, the obstacles could be represented by the constraints generated with the technique. Then, a collision-free corridor could be formed by the constraints. The corridor generating algorithm can provide outcome at a high speed, also cater to one all multiple obstacles situation.

本文言語英語
ホスト出版物のタイトル2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ15-18
ページ数4
ISBN(電子版)9781728167916
DOI
出版ステータス出版済み - 4 2020
イベント5th International Conference on Control and Robotics Engineering, ICCRE 2020 - Osaka, 日本
継続期間: 4 24 20204 26 2020

出版物シリーズ

名前2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020

会議

会議5th International Conference on Control and Robotics Engineering, ICCRE 2020
国/地域日本
CityOsaka
Period4/24/204/26/20

All Science Journal Classification (ASJC) codes

  • 人工知能
  • 機械工学
  • 制御と最適化

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