کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
712552 892154 2006 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
MOTION PLANNING AMIDST MOVING OBSTACLES USING THE BUMP-HYPERSURFACE CONCEPT
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
MOTION PLANNING AMIDST MOVING OBSTACLES USING THE BUMP-HYPERSURFACE CONCEPT
چکیده انگلیسی

In this paper, we introduce a new approach based on the Bump-HyperSurface concept for global trajectory planning of a mobile robot moving in a 2D dynamic environment cluttered with a priori known static and moving obstacles with known trajectories. The proposed method generates a near-time optimal path from a start point to a destination point by performing a search on the Bump-HyperSurface constructed into the configuration-time space. The performance of the proposed method is investigated in simulated 2D environments cluttered with both static and moving obstacles.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 39, Issue 15, 2006, Pages 55–60
نویسندگان
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