Abstract
A dynamic threat and disturbance rejected path reshaping method is proposed. The method is based upon parametric Bezier curve called Local Optimal Reshaping(LOR), which is easy to adjust the reference velocity for navigation. Before implementation, only minimal safe margin and maximum curvature are needed. The method also purposefully biases the reshaping region of each node, thus, it is computational efficient with easy implementation. Three parts are included in the whole path planner, which are kinematic path planner, disturbance rejector with path smoother, and dynamic threat avoided planner, respectively. LOR acts as main effector in disturbance rejector and dynamic threat avoided planner. Comparative simulations are provided in this paper, and results show that our method has good performance in tackling disturbance and dynamic threats.
L. Yang—It is high acknowledged that this work is partially supported by NSFC under Grant #61433016. Yang Cao is with School of Software Engineering, USTC, China.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Malone, N., Lesser, K., Oishi, M., et al.: Stochastic reachability based motion planning for multiple moving obstacle avoidance. In: Pro. of the 17th International Conference on Hybrid Systems: Computation and Control, pp. 51–60. ACM Press, Berlin (2014)
Michel, P., Chestnutt, J., Kagami, S., et al.: Online environment reconstruction for biped navigation. In: Proc. of IEEE International Conference on Robotics and Automation, pp. 3089–3094. IEEE Press, Orlando (2006)
Kimmel, R., Kiryati, N., Bruckstein, A.M.: Multivalued distance maps for motion planning on surfaces with moving obstacles. IEEE Transactions on Robotics and Automation 14(3), 427–436 (1998)
Yoshida, E., Esteves, C., Belousov, I., et al.: Planning 3-d collision-free dynamic robotic motion through iterative reshaping. IEEE Transactions on Robotics 24(5), 1186–1198 (2008)
Ferguson, D., Nidhi, K., Anthony, S.: Replanning with rrts. In: Proc. of IEEE International Conference on ICRA, pp. 1243–1248. IEEE Press, Orlando (2006)
Van Den Berg, J., Ferguson, D., Kuffner, J.: Anytime path planning and replanning in dynamic environments. In: Proc. of IEEE International Conference on ICRA, pp. 2366–2371. IEEE Press, Orlando (2006)
Zucker, M., Kuffner, J., Branicky, M.: Multipartite RRTs for rapid replanning in dynamic environments. In: Proc. of IEEE International Conference on ICRA, pp. 1603–1609. IEEE Press, Roma (2007)
Jaillet, L., Simeon, T.: Path deformation roadmaps: Compact graphs with useful cycles for motion planning. The International Journal of Robotics Research 27, 1175–1188 (2008)
Esteves, C., Gustavo, A., Julien, P., Jean-Paul, L.: Animation planning for virtual characters cooperation. ACM Transactions on Graphics 25(2), 321–339 (2006)
Yang, L., Qi, J., Jiang, Z., et al.: Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV. In: Proc. of IEEE International Conference on Mechatronics and Automation (ICMA), pp. 1182–1187. IEEE Press, Tianjin (2014)
Song, D., Qi, J., Dai, L., et al.: Modelling a small-size unmanned helicopter using optimal estimation in the frequency domain. International Journal of Intelligent Systems Technologies and Applications 8(1), 70–85 (2010)
Mahmoud, M.S., Koesdwiady, A.B.: Improved digital tracking controller design for pilot-scale unmanned helicopter. Journal of the Franklin Institute 349(1), 42–58 (2012)
Gupta, R.A., Masoud, A.A., Chow, M.Y.: A delay-tolerant potential-field-based network implementation of an integrated navigation system. IEEE Transactions on Industrial Electronics 57(2), 769–783 (2010)
Bhattacharya, R.: OPTRAGEN: A Matlab toolbox for optimal trajectory generation. In: IEEE Conference on Decision Control, pp. 6832–6836. IEEE Press, Bahamas (2006)
Niederreiter, H.: Quasi-Monte Carlo methods and pseudo-random numbers. Bulletin of the American Mathematical Society 84(6), 957–1041 (1978)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Yang, L., Qi, J., Yang, L., Cao, Y., Han, J., Xiao, J. (2015). An Analytical Local Reshaping Algorithm. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_24
Download citation
DOI: https://doi.org/10.1007/978-3-319-22876-1_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22875-4
Online ISBN: 978-3-319-22876-1
eBook Packages: Computer ScienceComputer Science (R0)