New method for motion planning for non-holonomic systems using partial differential equations
New method for motion planning for non-holonomic systems using partial differential equations
复制标题
使用偏微分方程进行非完整系统运动规划的新方法
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Shenyu Liu
中科院分区：
文献类型：
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作者：
M. Belabbas;Shenyu Liu
针对非完整系统运动规划这一长期存在的问题，提出了一种新的方法。我们的方法是建立在一个抛物型偏微分方程，出现在黎曼流形的研究。我们展示了它是如何被带到承担提供一个非完整运动规划问题的解决方案。我们说明了规范的例子，即universe，非完整的积分器，并为非完整的汽车模型的并行停车任务的方法。我们也布里#y地址有关的计算问题，解决这个特殊的偏微分方程，并指出存在的快速算法和事实，这个问题是很容易并行化。
We present in this paper a novel approach to the long-standing problem of motion planning for non-holonomic systems. Our method is built upon a parabolic partial differential equation that arises in the study of Riemannian manifold. We show how it can be brought to bear to provide a solution to a non-holonomic motion planning problem. We illustrate the method on canonical examples, namely the unicycle, the non-holonomic integrator, and the parallel parking task for a non-holonomic car model. We also brie#y address computational issues pertinent to solving this particular partial differential equation, and point out the existence of fast algorithms and the fact that the problem is easily parallelizable.