Path Planning with Obstacle Avoidance Based on Normalized R-Functions
المؤلفون المشاركون
المصدر
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-10، 10ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-10-04
دولة النشر
مصر
عدد الصفحات
10
التخصصات الرئيسية
الملخص EN
Existing methods for path planning with obstacle avoidance need to check having the interference between a moving part and an obstacle at iteration and even to calculate their shortest distance in the case of given motion parameters.
Besides, the tasks like collision-checking and minimum-distance calculating themselves are complicated and time-consuming.
Rigorous mathematical analysis might be a practical way for dealing with the above-mentioned problems.
An R-function is a real-valued function whose properties are fully determined by corresponding attributes of their parameters, which is usually applied to express a geometrical object.
Thus, a signed distance function based on R-functions is created to represent whether two objects intervene and their level of intervention or separation.
As the signed function is continuous and differentiable, the gradient information of the objective function guides a moving part to avoid its obstacles and to approach its target position rapidly.
Therefore, a path planning approach with obstacle avoidance based on normalized R-functions is proposed in this paper.
A discrete convex hull approach is adopted to solve the problem that R-function is inappropriate to represent a geometric object with some curves or surfaces, and pendent points and edges are generated in Boolean operations.
Besides, a normalized approach ensures accuracy calculation of signed distance function.
Experimental results have shown that the presented approach is a feasible way for path planning with obstacle avoidance.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Tao, Songqiao& Tan, Juan. 2018. Path Planning with Obstacle Avoidance Based on Normalized R-Functions. Journal of Robotics،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1197836
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Tao, Songqiao& Tan, Juan. Path Planning with Obstacle Avoidance Based on Normalized R-Functions. Journal of Robotics No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1197836
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Tao, Songqiao& Tan, Juan. Path Planning with Obstacle Avoidance Based on Normalized R-Functions. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1197836
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1197836
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر