论文:《Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Motion Planning》Carlos E. Luis 视频:youtube.com/watch? 开源项目:github.com/carlosluis/o Abstract 多机器人轨迹规划:DMPC 在线real-time 按需避障策略 事件触发重规划策略 优点:与BVC比,平均减少大约50%的完成多...
继续接论文推土机:Online Generation of Safe Trajectories for Quadrotor UAV Flight in Cluttered Environments,defense的最后三章,主要是对比以及实验,我们大致过一遍。 首先回顾一下整个算法流程: 上文说到trajectory generation部分,完成了轨迹规划之后,就是controller来跟踪这条轨迹。在此之前,作者还有一个步骤,轨迹平滑。
In the robot safety system, the online trajectory generation algorithm is formulated in the optimization-based trajectory planning framework. The safety index is evaluated using the ellipsoid coordinates attached to the robot links that represents the distance between the robot manipulator and the agent....
This paper proposed a method of online trajectory generation based on key parameters of off-line trajectories for a biped humanoid. The key parameters include hip parameters, step length, walking cycle and so on. The walk pattern can be obtained according to these parameters. In order to gener...
Online Safe Trajectory Generation For QuadrotorsUsing Fast Marching Method and Bernstein Basis Polyn,程序员大本营,技术文章内容聚合第一站。
本文聚焦于Online Quadrotor Trajectory Generation and Autonomous Navigation on Point Cloud的研究，由Fei Gao和Shaojie Shen提出，他们创新性地采用了球体膨胀法生成flight corridor，区别于传统的方块膨胀方式。在轨迹规划中，他们采用多项式表达式来描述飞行路径，目标函数和约束各有其独特之处。flight ...
1) Online entry trajectory generation 再入轨道在线生成2) onboard trajectory generation 轨道在线生成 1. Research on technique of onboard trajectory generation for SGKW SGKW轨道在线生成技术研究3) Reentry trajectory 再入轨道 1. In this paper, the optimization problem of reentry trajectory and ...
Online Trajectory Generation for Mobile Robots with Kinodynamic Constraints and Embedded Control Systems The paper describes trajectory generation and tracking control algorithms, respectively based on nonlinear filtering and dynamic feedback linearization, fo... M Bonfe - 《Ifac Proceedings Volumes》 被引...
We represent the trajectory as piecewise Bézier curves by using the Bernstein polynomial basis and formulate the trajectory generation problem as a convex program. By using Bézier curves, we can constrain the position and kinodynamics of the trajectory entirely within the flight corridor and given ...
本文解析Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial,Fei Gao, William Wu, Yi Lin and Shaojie She。在之前我们的几篇文章解析中提及使用bezier曲线作为轨迹规划的表达形式,这个方法最大的好处是利用了bezier曲线的特性,使得对曲线的高阶导数的约束可以...