Path Planning based on Geodesic for Mobile Robots

被引：0
作者：
Hu Yongqiang [1 ]
Bao Fengyu [1 ]
Li Bing [1 ]
Gu Zhongping [1 ]
机构：
[1] Guidaojiaotong Polytech Inst, Dept Mech & Elect Engn, Shenyang 110036, Peoples R China
来源：
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2015年
关键词：
Path Planning; Mobile Robots; Geodesic; DYNAMIC-SYSTEM;
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：
In this paper, a geodesic-based method is proposed for the robot path planning problem. The geodesic, on the smooth curved surface constructed by potential field, is used to provide the robot a path to the target without trapping in the local minima. The relation between the potential and the geodesic is analyzed and some local properties of the geodesic are obtained, which are used to adjust the direction of the geodesic-based path. The proposed approach based on the data obtained by the sensor can he applied to the dynamical environment and it is verified by simulations.
引用
收藏
页码：4315 / 4320
页数：6
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