这句话意思就是初始解(初始路径)会收敛到包括它的同伦类的局部最优解,即便初始路径不同,只要他们属于一个同伦类,会得到一样的局部最优解 2.2 在Voronoi图发现同伦类 给定机器人当前的位置z_s、目标z_f(都在C空间)和障碍区域集O=\left\{O_l|l=1,2,3..R \right\}构造一个探索图G = {V,E},以初始...
1.产品介绍: 目的是为了迎和“普遍适用的运动规划”策略,论文提出在线规划比离线方法更可取,因为他们在运行时会立即响应环境的变化或机器人运动的扰动。 论文中提出,传统的路径规划并没有明确地包含运动的时间和(运动学)动态方面,因此疏忽了具有有界速度和加速度的运动学或者动态运动模型所施加的约束。 论文提出,寻找...
Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumptiondoi:10.3390/APP9132770Xiaoqing ZhangZhengfeng MingMultidisciplinary Digital Publishing Institute
L Tang,X Wang,L Tang,... - 《Engineering Optimization》 被引量: 0发表: 2020年 加载更多来源期刊 Journal of Process Control 研究点推荐 reheating steel slabs Model-based trajectory planning open-loop control temperature control method continuous slab reheating furnace 引用走势 2013 被引量:13 0...
An optimal trajectory is very important to reusable launch vehicle (RLV) which faces the critical heating and aero force when it comes back from outer space through the dense atmosphere. However, the trajectory planning is a sort of typically large scale and multi-constraint optimization problem....
摘要原文 Many real-world tasks require fast planning of highly dynamic movements for their execution in real-time. The success often hinges on quickly finding one of the few plans that can achieve the task at all. A further challenge is to quickly find a plan which optimizes a desired cost...
This paper proposes an approach based on Ordinal Optimization (OO) to solve trajectory planning for automated driving. As most planning approaches based on candidate curves optimize the trajectory curve and the velocity profile separately, this paper formulates the problem as an unified Non-Linear Pro...
Optimal Opponent Stealth Trajectory Planning based on an Efficient Optimization Technique In principle, the Automatic Identification System (AIS) makes covert rendezvous at sea, such as smuggling and piracy, impossible; in practice, AIS can be s... A Aubry,P Braca,E D'Afflisio,... - 《IEEE...
His research interests include trajectory optimization, networked control systems, multiagent control systems, and autonomous vehicle motion planning and control.Kaiyuan Chen received the Ph.D. degree from Swansea University in 2022. She serves as Research Fellow at Vanke School of Public Health, ...
利用高效的优化算法优化(代码中使用Google的g2o框架)由全局planer产生的全局路径,使得导航路径短,耗时少,避开障碍物,遵守运动学约束等。这些目标体现在模型上会增加一些等式和不等式约束。常见的local plane…