| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2017 |
| Язык | английский |
|
Лавренов Роман Олегович, автор
Магид Евгений Аркадьевич, автор
Хасьянов Айрат Фаридович, автор
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| Библиографическое описание на языке оригинала |
Magid E., Lavrenov R., Khasianov A. Modified spline-based path planning for autonomous ground vehicle // The 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) (Madrid, Spain; 26-28 July 2017) - p. 132-141. |
| Аннотация |
Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) |
| Ключевые слова |
Path Planning, Voronoi Diagram, Potential Field, Mobile Robot |
| Название журнала |
Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)
|
| URL |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85029389004&doi=10.5220%2f0006442601320141&partnerID=40&md5=2f8811a2436402a52586aa707e6bbb09 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=236740 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Лавренов Роман Олегович |
ru_RU |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Хасьянов Айрат Фаридович |
ru_RU |
| dc.date.accessioned |
2017-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2017-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2017 |
ru_RU |
| dc.identifier.citation |
Magid E., Lavrenov R., Khasianov A. Modified spline-based path planning for autonomous ground vehicle // The 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) (Madrid, Spain; 26-28 July 2017) - p. 132-141. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=236740 |
ru_RU |
| dc.description.abstract |
Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) |
ru_RU |
| dc.description.abstract |
Potential function based methods play significant role in global and local path planning. While these methods are characterized with good reactive behavior and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this article we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and adds additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm. The algorithm was implemented in Matlab environment and simulation results demonstrate that we succeeded to overcome our original algorithm pitfalls. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
Path Planning |
ru_RU |
| dc.subject |
Voronoi Diagram |
ru_RU |
| dc.subject |
Potential Field |
ru_RU |
| dc.subject |
Mobile Robot |
ru_RU |
| dc.title |
Modified spline-based path planning for autonomous ground vehicle |
ru_RU |
| dc.type |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
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