Navigating dynamic environments using trajectory deformation
Navigating dynamic environments using trajectory deformation
复制标题
使用轨迹变形导航动态环境
DOI：
10.1109/iros.2008.4650639
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Thierry Fraichard
中科院分区：
文献类型：
--
作者：
Vivien Delsart;Thierry Fraichard
路径变形是一种用于生成机器人运动的技术，其中预先计算的路径会在线连续变形，以响应不可预见的障碍物。为了改善轨迹变形，本文提出了一种轨迹变形方案。其主要思想是，通过将时间维度，因此信息的obstaclespsila未来的行为，相当多的情况下，路径变形会失败，可以处理。表示为时空曲线的轨迹受到外部（以避免与障碍物碰撞）和内部（以保持轨迹可行性和连通性）的变形力的影响。轨迹变形方案已成功地测试了一个平面机器人与双积分动力学和汽车一样的车辆。
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles. In an effort to improve path deformation, this paper presents a trajectory deformation scheme. The main idea is that by incorporating the time dimension and hence information on the obstaclespsila future behaviour, quite a number of situations where path deformation would fail can be handled. The trajectory represented as a space-time curve is subject to deformation forces both external (to avoid collision with the obstacles) and internal (to maintain trajectory feasibility and connectivity). The trajectory deformation scheme has been tested successfully on a planar robot with double integrator dynamics and a car-like vehicle.