作者挺刚的,一上来就是:in this article, we do not review, or compare, optimization-based collision avoidance methods with alternative approaches, such as those based on xxx 实际上在实验上也是如此,只是一开始说Hybrid A*太bangbang了,不像人开的一把倒车这种(虽然有时候人也不一定能一把倒好)。那就...
涉及到一些基础算法的回顾,这里包括很经典的一个OBCA算法,这个之前整理过论文推土机:使用混合A*和Optimization-based method进行泊车规划的算法整理, 不过就是整理了一些论文,既然还没整理过其公式推导,不如顺便回顾完就在这里记录下。 OBCA的核心就是将碰撞检测这个非凸非光滑的问题转变成非凸的光滑问题,如果我们不...
Particle swarm optimizationcollision avoidancecollision risk assessmentneural networkfuzzyCollision risk assessment and collision avoidance of vessels have always been an important topic in ocean engineering. Decision support systems are increasingly becoming the focus of many studies in the maritime industry ...
Optimization-Based Collision Avoidance - a path planner for autonomous navigation Paper describing the theory can be found here. Note: An OBCA version specialized towards autonomous parking can be found at H-OBCA. Short Description OBCA is a novel method for formulating collision avoidance constraint...
If you change anything in one of the collision avoidance problems, you need to activate the changes by running: include("setup.jl") If you change the size of the car in main.jl, the change also need to be made in collision_check.jl ...
Autonomous Parking using Optimization-Based Collision Avoidance 作者也开源了代码,可惜是Julia写的,看起来费劲: https://github.com/XiaojingGeorgeZhang/OBCAgithub.com/XiaojingGeorgeZhang/OBCA 这里有一个同学的论文的分析: silver bullet:文献阅读之自主泊车APA的路径规划159 赞同 · 12 评论文章 Apollo的代码...
This paper proposes a hybrid control of trajectory planning for a desired trajectory and collision avoidance based on an optimization problem for a wheeled mobile robot. In the proposed method, the priority of trajectory planning for the desired trajectory and collision avoidance is modified using the...
多行车同轨运行的作业避碰及调度优化 collision avoidance and scheduling optimization of multiple cranes on a common track.pdf,制造技7Ⅳ工艺装备 现代制造工程(ModernManufacturingEngineering) 2016年第5期 多行车同轨运行的作业避碰及调度优化+ 毛永年1,唐秋华1,
In Tachwali and Refai (2009), a WSN based collision evasion system ha been proposed to be deployed at intersections in a city. The proposed wireless sensor network consists of two types of nodes i.e. stationary nodes placed near the road and mobile nodes that are mounted on the vehicles....
Optimization-Based Trajectory Planning Preliminaries 1. Global and local methods Global methods exploration and exploitation Local methods deterministic optimization 缺乏全局方法的采样和探索过程,主要使用初值及给定函数的零阶及高阶信息进行显示计算(如梯度下降),所以不一定能找到全局最优解...