A method of progressive constraints for nonholonomic motion planning
A method of progressive constraints for nonholonomic motion planning
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非完整运动规划的渐进约束方法
DOI：
10.1109/robot.1996.509160
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
Pierre Ferbach
中科院分区：
文献类型：
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作者：
Pierre Ferbach
提出了一种非完整运动规划的一般方法，该方法能够解决高维位形空间系统的非完整运动规划问题。原始NMP问题被一系列逐步约束的问题所取代，这些问题被相继求解，并且其解路径收敛于原始问题的解。在迭代算法中逐步引入非完整约束。每次迭代包括探索从前一次迭代获得的路径的邻域，搜索满足更精确约束的路径。的探索进行根据一个动态规划程序能够处理优化标准。
Presents a general method for nonholonomic motion planning (NMP), that is able to solve problems for systems with high-dimensional configuration spaces. The original NMP problem is replaced by a series of progressively constrained ones that are solved successively, and whose solution path converges towards a solution of the original problem. The nonholonomic constraints are introduced progressively in an iterative algorithm. Each iteration consists of exploring a neighborhood of the path obtained from the previous iteration, searching for a path that satisfies more accurate constraints. The explorations proceed according to a dynamic programming procedure able to deal with optimization criteria.
DOI：
10.1109/70.508439
发表时间：
1996-08-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
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作者：
Kavraki, LE;Svestka, P;Overmars, MH
通讯作者：
Overmars, MH