基于Bezier曲线和动态约束的全向车辆全局路径规划

2013 10th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD) Pub Date : 2013-07-23 DOI:10.1109/FSKD.2013.6816268

Han Xiong, Huasong Min

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引用次数: 1

摘要

提出了一种面向全向车辆的全局路径规划方法。该方法利用全向车辆的动态约束来确定车辆的速度和轨迹，并在多边形障碍物环境中规划出平滑的最优路径。仿真结果表明，与势场法和A*算法相比，该算法在运动时间和路径长度方面都有改进。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Global path planning for omnidirectional vehicles based on Bezier curve and dynamic constraints

This paper presents a global path planning method for omnidirectional vehicles. The method plans a smooth and optimal path in polygonal obstacle environment, determining the velocity and trajectory by dynamic constrains of omnidirectional vehicles. The results of simulation have demonstrated the improvement of trajectory generation in terms of motion time and path length compared to potential field method and A* algorithm.

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2013 10th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD)

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