A novel local path planning method considering both robot posture and path smoothness

Xiang Gao; Yongsheng Ou; Yiqun Fu; Zhao Li; Dawei Dai; Liangliang Cui; Yimin Zhou; Weidong Guo

doi:10.1109/ROBIO.2013.6739454

A novel local path planning method considering both robot posture and path smoothness

Xiang Gao
, Yongsheng Ou^*
, Yiqun Fu
, Zhao Li
, Dawei Dai
, Liangliang Cui
, Yimin Zhou
, Weidong Guo

^*此作品的通讯作者

机械工程及自动化学院

Shenzhen Institute of Advanced Technology
Beihang University
Chinese University of Hong Kong

科研成果: 会议稿件 › 论文 › 同行评审

9 引用（Scopus）

摘要

Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.

源语言	英语
页	172-178
页数	7
DOI	https://doi.org/10.1109/ROBIO.2013.6739454
出版状态	已出版 - 2013
活动	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, 中国期限: 12 12月 2013 → 14 12月 2013

会议

会议	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
国家/地区	中国
市	Shenzhen
时期	12/12/13 → 14/12/13

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10.1109/ROBIO.2013.6739454

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title = "A novel local path planning method considering both robot posture and path smoothness",

abstract = "Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.",

author = "Xiang Gao and Yongsheng Ou and Yiqun Fu and Zhao Li and Dawei Dai and Liangliang Cui and Yimin Zhou and Weidong Guo",

year = "2013",

doi = "10.1109/ROBIO.2013.6739454",

language = "英语",

pages = "172--178",

note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",

}

TY - CONF

T1 - A novel local path planning method considering both robot posture and path smoothness

AU - Gao, Xiang

AU - Ou, Yongsheng

AU - Fu, Yiqun

AU - Li, Zhao

AU - Dai, Dawei

AU - Cui, Liangliang

AU - Zhou, Yimin

AU - Guo, Weidong

PY - 2013

Y1 - 2013

N2 - Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.

AB - Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.

UR - https://www.scopus.com/pages/publications/84898832974

U2 - 10.1109/ROBIO.2013.6739454

DO - 10.1109/ROBIO.2013.6739454

M3 - 论文

AN - SCOPUS:84898832974

SP - 172

EP - 178

T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

A novel local path planning method considering both robot posture and path smoothness

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