资源描述：
《Real-time motion planning for agile autonomous vehicles》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、ProceedingsoftheAmericanControlConferenceArlington,VAJune25-27,2001REAL-TIMEMOTIONPLANNINGFORAGILEAUTONOMOUSVEHICLESEmilioFrazzoliMuntherA.DahlehEricFeronMassachusettsInstituteofTechnology,Cambridge,MA02139AbstractMotionplanningresearchisawell-establisheddisci-plineinR
2、obotics.1-4Thecomputationalcomplexity~Planningthepathofanautonomous,agilevehicleinofadeterministic,completealgorithm,evenintheadynamicenvironmentisaverycomplexproblem,es-simplestcasesofmotionplanning,growsexponentiallypeciallywhenthevehicleisrequiredtouseitsfullma-with
3、thenumberofthedegreesoffreedomoftheve-neuveringcapabilities.Recenteffortsaimedatusinghi~le.~?~Inordertocircumventthecomputationalrandomizedalgorithmsforplanningthepathofkine-complexityofdeterministic,completealgorithms,amaticanddynamicvehicleshavedemonstratedcon-newcla
4、ssofmotionplanningalgorithms,knownassiderablepotentialforimplementationonfutureau-ProbabilisticRoadMap(PRM)planners,wasrecentlytonomousplatforms.Thispaperbuildsupontheseef-intr~duced.~-l~ProbabilisticRoadmapPlannersarefortsbyproposingarandomizedmotionplanningplan-based
5、ontheconstructionofagraphoffeasiblepathsningarchitecturefordynamicalsystemsinthepres-(roadmap),connectingdifferentlocations(milestones)enceoffixedandmovingobstacles.Thisarchitectureintheworkspace.AnincrementalversionofPRMs,addressesthedynamicconstraintsonthevehicle’smo
6、-theRapidly-exploringRandomTree(RRT),wasin-tion,anditprovidesatthesametimeaconsistentde-troducedbyLaValleandKuffner13-15asameanstocouplingbetweenlow-levelcontrolandmotionplan-providerapid,single-queryexplorationoftheenviron-ning.Simulationexamplesinvolvingagroundrobotm
7、ent,aswellastotakeintoaccountthedynamicsofandasmallautonomoushelicopter,arepresentedandthesystem.InHsu,Kindel,etal.16anewincrementaldiscussed.roadmapbuildingalgorithmisintroducedthatprovidesnotonlyprobabilisticcompleteness,butalsoperfor-1Introductionmanceguaranteesonth
8、ealgorithm.Thatis,theprob-Thispaperisconcernedwiththeproblemofgenerat-abilityofthealgorithmfindingasolutionifoneexist
