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https://doi.org/10.2498/cit.1001157

Navigating Dynamic Environments with Trajectory Deformation

Thierry Fraichard
Vivien Delsart

Puni tekst: engleski, pdf (1 MB) str. 27-36 preuzimanja: 419* citiraj
APA 6th Edition
Fraichard, T. i Delsart, V. (2009). Navigating Dynamic Environments with Trajectory Deformation. Journal of computing and information technology, 17 (1), 27-36. https://doi.org/10.2498/cit.1001157
MLA 8th Edition
Fraichard, Thierry i Vivien Delsart. "Navigating Dynamic Environments with Trajectory Deformation." Journal of computing and information technology, vol. 17, br. 1, 2009, str. 27-36. https://doi.org/10.2498/cit.1001157. Citirano 28.02.2021.
Chicago 17th Edition
Fraichard, Thierry i Vivien Delsart. "Navigating Dynamic Environments with Trajectory Deformation." Journal of computing and information technology 17, br. 1 (2009): 27-36. https://doi.org/10.2498/cit.1001157
Harvard
Fraichard, T., i Delsart, V. (2009). 'Navigating Dynamic Environments with Trajectory Deformation', Journal of computing and information technology, 17(1), str. 27-36. https://doi.org/10.2498/cit.1001157
Vancouver
Fraichard T, Delsart V. Navigating Dynamic Environments with Trajectory Deformation. Journal of computing and information technology [Internet]. 2009 [pristupljeno 28.02.2021.];17(1):27-36. https://doi.org/10.2498/cit.1001157
IEEE
T. Fraichard i V. Delsart, "Navigating Dynamic Environments with Trajectory Deformation", Journal of computing and information technology, vol.17, br. 1, str. 27-36, 2009. [Online]. https://doi.org/10.2498/cit.1001157

Sažetak
Path deformation is a technique that was introduced to generate robot motion wherein a nominal path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles. In an effort to improve path deformation, this paper presents a trajectory deformation scheme. The main idea is that by incorporating the time dimension and hence information on the obstacles' future behaviour, quite a number of situations where path deformation would fail can be handled. The trajectory represented as a discrete space-time curve is subject to deformation forces both external (to avoid collision with the obstacles) and internal (to maintain trajectory feasibility and connectivity). The trajectory deformation scheme has been tested successfully on a planar robot with double integrator dynamics moving in dynamic environments.

Projekti
EC / FP7 / 212154 / HAVE-IT - Highly Automated Vehicles for Intelligent Transport

Hrčak ID: 44566

URI
https://hrcak.srce.hr/44566

Posjeta: 603 *