Acceleration Space LP for the Path Planning of Dynamic Target Pursuit and Obstacle Avoidance

Author

Di Zu ; Han, Jianda ; Tan, Dalong

Author_Institution

Graduate Sch., Chinese Acad. of Sci., Beijing

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9084

Lastpage

9088

Abstract

Linear programming (LP) is powerful to solve the constrained optimization problems in planning and control. But in the dynamic target pursuit and obstacle avoidance (TPOA) problem, LP suffers from nonlinearity in either the objective function or the constraints. This paper proposes an acceleration space LP. It describes the TPOA problem as several linear inequalities that are easily solved by LP and can be applied to the problem with any shape of obstacles. Moreover, it makes an active planning based on the velocities of the vehicle relative to the obstacles and target. Simulation is given to illustrate the main ideas

Keywords

collision avoidance; linear programming; motion control; constrained optimization; dynamic target pursuit; linear programming; obstacle avoidance; path planning; Acceleration; Educational institutions; Laboratories; Linear programming; Orbital robotics; Path planning; Robotics and automation; Shape; Vehicle dynamics; Vehicles; dynamic uncertain environment; linear programming; obstacle avoidance; path planning; target pursuit;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713757

Filename

1713757