KFU. Card publication. Voronoi-based trajectory optimization for UGV path planning

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FEDERAL UNIVERSITY

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VORONOI-BASED TRAJECTORY OPTIMIZATION FOR UGV PATH PLANNING

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2017

Язык

английский

Authors, employees of KFU

Afanasev Ilya Mikhaylovich, author

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Magid E., Lavrenov R., Afanasyev I. Voronoi-based trajectory optimization for UGV path planning // ICMSC 2017 - International Conference on Mechanical, System and Control Engineering (St.Petersburg, Russia; 19-21 May 2017) - p. 383-387.

Annotation

MATEC Web of Conferences

Keywords

Heuristic algorithms, Trajectory, Planning, Optimization, Robot sensing systems, optimization criteria, voronoi diagram, path planning, Unmanned Ground Vehicle (UGV)

The name of the journal

MATEC Web of Conferences

URL

http://ieeexplore.ieee.org/abstract/document/7959506/

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=161685&p_lang=2

Resource files

File name	Size (MB)	Format
F_2017_Voronoi_based_trajectory_optimization_for_UGV_path_planning.pdf	0,65	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Afanasev Ilya Mikhaylovich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	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., Afanasyev I. Voronoi-based trajectory optimization for UGV path planning // ICMSC 2017 - International Conference on Mechanical, System and Control Engineering (St.Petersburg, Russia; 19-21 May 2017) - p. 383-387.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=161685&p_lang=2	ru_RU
dc.description.abstract	MATEC Web of Conferences	ru_RU
dc.description.abstract	Optimal path planning in dynamic environments for an unmanned vehicle is a complex task of mobile robotics that requires an integrated approach. This paper describes a path planning algorithm, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights. We introduce a set of key parameters for path optimization and the algorithm implementation in MATLAB. The developed algorithm is suitable for fast and robust trajectory tuning to a dynamically changing environment and is capable to provide efficient planning for mobile robots.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Heuristic algorithms	ru_RU
dc.subject	Trajectory	ru_RU
dc.subject	Planning	ru_RU
dc.subject	Optimization	ru_RU
dc.subject	Robot sensing systems	ru_RU
dc.subject	optimization criteria	ru_RU
dc.subject	voronoi diagram	ru_RU
dc.subject	path planning	ru_RU
dc.subject	Unmanned Ground Vehicle (UGV)	ru_RU
dc.title	Voronoi-based trajectory optimization for UGV path planning	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU