An Interval-based Sliding Horizon Motion Planning Method <ce:cross-ref refid='fn1'> <ce:sup loc='post'>?</ce:sup> </ce:cross-ref>

Julien Alexandre dit Sandretto; Elliot Brendel; Alexandre Chapoutot

首页> 外文期刊>IFAC PapersOnLine >An Interval-based Sliding Horizon Motion Planning Method ?

【24h】

An Interval-based Sliding Horizon Motion Planning Method ?

机译：基于间隔的滑动水平运动计划方法？

获取原文

掌桥外文数据库（机构版） >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相似文献
相关主题

摘要

A new algorithm of motion planning based on set-membership approach is presented. The goal of this algorithm is to find a safe and optimal path taking into account various sources of bounded uncertainties on the dynamical model of the plant, on the model of the environment, while being robust with respect to the numerical approximations introduced by numerical integration methods. The main approach is based on a sliding horizon method to predict the behavior of the system allowing the computation of an optimal path. As an example, the motion planning algorithm is applied to an Autonomous Underwater Vehicle (AUV) case study, showing the benefit of the proposed approach.

机译：提出了一种基于集合隶属度的运动计划算法。该算法的目标是找到一种安全且最佳的路径，同时考虑到植物动力学模型，环境模型上各种不确定性的来源，同时相对于数值积分方法引入的数值逼近具有鲁棒性。主要方法基于滑动水平方法来预测系统的行为，从而可以计算最佳路径。例如，将运动计划算法应用于自主水下航行器（AUV）案例研究，表明了该方法的优势。

著录项

来源
《IFAC PapersOnLine》 |2018年第16期|共6页
作者
Julien Alexandre dit Sandretto; Elliot Brendel; Alexandre Chapoutot;
展开▼
作者单位

展开▼
收录信息
原文格式 PDF
正文语种
中图分类自动化技术、计算机技术;
关键词
Formal synthesisReachabilitysafety analysisRobust control;

机译：形式综合可达性安全性分析鲁棒控制;

相似文献

外文文献
中文文献
专利

1. Real-time optimal motion planning for automated road vehicles ? ?? ?? The research reported in this paper was supported by the Higher education excellence Program in the frame of Artificial Intelligence research area of Budapest University of Technology and economics (BMe FIKP-MI/FM). [J] . Ferenc Hegedüs, Tamás Bécsi, Szilárd Aradi, IFAC PapersOnLine . 2020,第2期

机译：自动化道路车辆的实时最优运动规划？ ?? ?? 本文报告的研究得到了布达佩斯大学人工智能研究领域的高等教育卓越计划的支持技术与经济学（BME FIKP-MI / FM）。
2. On error analysis of a closed-loop subspace model identification method ? ? [J] . Hiroshi Oku, Kenji Ikeda IFAC PapersOnLine . 2021,第9期

机译：关于闭环子空间模型识别方法的误差分析？ < CE：Cross-Ref Refid =“Fn1”> ？
3. A limited-memory Riemannian symmetric rank-one trust-region method with an efficient algorithm for its subproblem ? ? [J] . Wen Huang, Kyle A. Gallivan IFAC PapersOnLine . 2021,第9期

机译：一个有限的内存riemannian对称秩一级rust-region方法，其子问题的有效算法？ < / ce：cross-ref> ？
4. An Interval-based Sliding Horizon Motion Planning Method [C] . Julien Alexandre dit Sandretto, Elliot Brendel, Alexandre Chapoutot IFAC Conference on Analysis and Design of Hybrid Systems . 2018

机译：基于间隔的滑动地平线运动计划方法
5. Robot Motion Planning in Dynamic, Cluttered, and Uncertain Environments: the Partially Closed-Loop Receding Horizon Control Approach [D] . Du Toit, Noel E. 2010

机译：在动态，混乱和不确定环境中的机器人运动计划：部分闭环后退水平控制方法
6. Implementation of clinical tractography for pre-surgical planning of space occupying lesions: An investigation of common acquisition and post-processing methods compared to dissection studies [O] . Jonathan Ashmore, Hugh G. Pemberton, William D. Crum, 2020

机译：临床牵引空间临床牵引性占据病变的临床牵引：与解剖研究相比常见收购和后处理方法的调查
7. SymposiumSubspecialty Certification: Current Status of Orthopaedic Subspecialty Certification* [O] . Keith H. Bridwell 2006

机译：Symposium 亚专业认证：矫形亚专业证书的当前状态 * / cross-ref>

An Interval-based Sliding Horizon Motion Planning Method ?

摘要

著录项

相似文献

相关主题

期刊订阅