Relative coordination 3D trajectory generation based on the trimmed ACO

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Relative coordination 3D trajectory generation based on the trimmed ACO
	Chen Y(陈洋); Zhao XG(赵新刚); Zhang C(张婵); Han JD(韩建达)
	2010
会议名称	International Conference on Electrical and Control Engineering, ICECE 2010
会议日期	June 26-28, 2010
会议地点	Wuhan, China
关键词	Artificial intelligence Electrical engineering Motion planning Robots Three dimensional
页码	1531-1536
中文摘要	Relative coordination has predominant advantage in uncertain environment path planning problem because it denies much of redundant information of the dynamic environment while avoids the rotation transformation which is a big burden in the traditional methods. Based on relative coordination, this paper proposes a trimmed Ant Colony Optimization (ACO) algorithm for three dimensional trajectory generation, i.e., path planning for target-pursuing and obstacle-avoiding (TPOA). We construct the city-map directly on the acceleration of the pursuing vehicle, an aerial robot. Then the robot's kinematics and the dynamics constraints will be embedded conveniently into the ACO formulation. As a result, the searching space in the ACO formulation shrinks greatly and the robot's movement is real and more feasible for application. This novel approach is verified by various simulations and the results show the good performance of efficiency.
收录类别	EI
产权排序	1
会议主办者	IEEE IAS Society; Huazhong University of Science and Technology; Wuhan University of Science and Technology
会议录	Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ
语种	英语
ISBN号	978-0-7695-4031-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8846]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Chen Y,Zhao XG,Zhang C,et al. Relative coordination 3D trajectory generation based on the trimmed ACO[C]. 见:International Conference on Electrical and Control Engineering, ICECE 2010. Wuhan, China. June 26-28, 2010.