不确定性下的规划

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240360

A. Basu, Ashraf Elnagar

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引用次数: 1

摘要

提出了一种解决给定加速度约束下的局部路径规划问题的方法。引入安全概念设计规划策略。选择一条基于局部信息和对目标的吸引力最大化安全产品的路径。安全函数依赖于加速度边界。对目标的吸引力取决于与目标的距离。安全优化路径规划技术类似于现实生活中的行为

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Planning under uncertainty

An approach to addressing the problem of local path planning given acceleration constraints is presented. The concept of safety is introduced to design a planning strategy. A path which maximizes the product of safety based on local information, and attraction towards the goal, is chosen. The safety function depends on the acceleration bounds. The attraction towards the goal depends on the distance from the goal. The safety optimizing path planning technique resembles real life behavior.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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