On the design of an obstacle avoiding trajectory: Method and simulation

被引：59

作者：

Pozna, Claudiu ^{[2
]}

Troester, Fritz ^{[3
]}

Precup, Radu-Emil ^{[1
]}

Tar, Jozsef K. ^{[4
]}

Preitl, Stefan ^{[1
]}

机构：

[1] Politechn Univ Timisoara, Dept Automat & Appl Informat, Timisoara 300223, Romania

[2] Transilvania Univ Brasov, Dept Prod Design & Robot, Brasov 500036, Romania

[3] Univ Appl Sci Heilbronn, Dept Mech & Elect Engn, D-74081 Heilbronn, Germany

[4] Budapest Tech Polytech Inst, Inst Intelligent Engn Syst, H-1034 Budapest, Hungary

来源：

MATHEMATICS AND COMPUTERS IN SIMULATION | 2009年 / 79卷 / 07期

关键词：

Control; Obstacle avoiding trajectory; Potential field; Simulation; Trajectory design; COLLISION-AVOIDANCE; NONLINEAR-SYSTEMS; MOBILE ROBOTS; FUZZY; STABILITY; TIME; OPTIMIZATION; MANIPULATORS; GENERATION; ALGORITHM;

D O I：

10.1016/j.matcom.2008.12.015

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

The paper suggests anew mathematical construction for the potential field used in the design of obstacle avoiding trajectories. The main benefits of the proposed construction are the quickness of minimum computation and the compensation for the main drawbacks specific to the "traditional approaches" belonging to the potential field method in general. The potential field definition and its minimum computation concept are presented. Next the concept is included in a design method for obstacle avoiding trajectories. The method is expressed in the form of an algorithm for obstacle avoidance. In the following step a state-space controller is designed in order to control the car along that trajectory. Digital simulation results obtained for the complete dynamic model of a car well validate the method. (C) 2008 IMACS. Published by Elsevier B.V. All rights reserved.

引用

页码：2211 / 2226

页数：16

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