A Quadratic Programming Approach to Path Smoothing

被引：0
|
作者：
Zhao, Yiming [1 ]
Tsiotras, Panagiotis [1 ]
机构：
[1] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA
来源：
2011 AMERICAN CONTROL CONFERENCE | 2011年
关键词：
CURVATURE; GENERATION; ROBOTS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a method for smoothing a path in an environment with obstacles. Some characteristic nodes of the path are updated in each iteration by solving a quadratic program, which is formulated based on the smoothness constraints and the local environment information. The generated path satisfies the prescribed smoothness constraints, such as bounds on the curvature, and avoids any collision with obstacles. The proposed method is easy to implement and computationally efficient.
引用
收藏
页码：5324 / 5329
页数：6
相关论文
共 50 条
  • [1] Smoothing by convex quadratic programming
    He, BS
    Wang, YM
    JOURNAL OF COMPUTATIONAL MATHEMATICS, 2005, 23 (02) : 211 - 216
  • [2] Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space
    CHEN Yang1
    2 School of Information Science and Engineering
    3 Graduate School
    Chinese Journal of Mechanical Engineering, 2012, (04) : 665 - 673
  • [3] Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space
    CHEN YangHAN Jiandaand WU Huaiyu State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang China School of Information Science and EngineeringWuhan University of Science and TechnologyWuhan China Graduate SchoolChinese Academy of SciencesBeijing China
    Chinese Journal of Mechanical Engineering, 2012, 25 (04) : 665 - 673
  • [4] Quadratic programming-based approach for autonomous vehicle path planning in space
    Yang Chen
    Jianda Han
    Huaiyu Wu
    Chinese Journal of Mechanical Engineering, 2012, 25 : 665 - 673
  • [5] Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space
    Chen Yang
    Han Jianda
    Wu Huaiyu
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2012, 25 (04) : 665 - 673
  • [6] Constrained Path Planning using Quadratic Programming
    Fusco, Franco
    Kermorgant, Olivier
    Martinet, Philippe
    2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 8134 - 8139
  • [7] Path relinking for unconstrained binary quadratic programming
    Wang, Yang
    Lu, Zhipeng
    Glover, Fred
    Hao, Jin-Kao
    EUROPEAN JOURNAL OF OPERATIONAL RESEARCH, 2012, 223 (03) : 595 - 604
  • [8] HISTOGRAM AND SCATTERGRAM SMOOTHING USING CONVEX QUADRATIC-PROGRAMMING
    XU, WL
    JOURNEL, AG
    MATHEMATICAL GEOLOGY, 1995, 27 (01): : 83 - 103
  • [9] Convex quadratic programming approach
    Cardoso, DM
    JOURNAL OF GLOBAL OPTIMIZATION, 2001, 19 (03) : 291 - 306
  • [10] Convex Quadratic Programming Approach
    Domingos M. Cardoso
    Journal of Global Optimization, 2001, 21 : 89 - 89
12345