Multiobjective motion planning for a nonholonomic vehicle

被引：0
|
作者：
Spais, VA [1 ]
Petrou, LP [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece
来源：
CEC: 2003 CONGRESS ON EVOLUTIONARY COMPUTATION, VOLS 1-4, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
A technique is proposed for integrating a probabilistic graph construction algorithm with an evolutionary multiobjective optimizer. A hybrid planner (EvoVBPR) for a nonholonomic robotic vehicle is then presented. It integrates a probabilistic roadmap construction method (VBPR) with the SPEA2 evolutionary multiobjective algorithm and an additional deterministic graph pruning step. The result is a Pareto set of roadmaps that represent different tradeoffs between length of path and obstacle clearance.
引用
收藏
页码：2058 / 2065
页数：8
相关论文
共 50 条
  • [21] Nonholonomic Motion Planning Strategy for Underactuated Manipulator
    Li, Liang
    Tan, Yuegang
    Li, Zhang
    JOURNAL OF ROBOTICS, 2014, 2014
  • [22] THEORETICAL DESIGN AND MOTION PLANNING OF NONHOLONOMIC MANIPULATOR
    Tan Yuegang
    Deng Yuhui
    WU Zhengping School of Mechanical and Electronic Engineering
    Chinese Journal of Mechanical Engineering, 2004, (02) : 222 - 225
  • [23] NONHOLONOMIC MOTION PLANNING - STEERING USING SINUSOIDS
    MURRAY, RM
    SASTRY, SS
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1993, 38 (05) : 700 - 716
  • [24] Motion planning for nonholonomic robots in a limited workspace
    Shkel, AM
    Lumelsky, VJ
    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS, 1998, : 1473 - 1478
  • [25] Planning spiral motion of nonholonomic space robots
    Suzuki, T
    Nakamura, Y
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 718 - 725
  • [26] Method of progressive constraints for nonholonomic motion planning
    Ferbach, P
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (01): : 172 - 179
  • [27] Motion planning for nonholonomic tracked mobile robot
    Kang, Liang
    Wang, Jian-Jun
    Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, 2012, 46 (SUPPL. 1): : 28 - 30
  • [28] Locally optimal motion planning of nonholonomic systems
    Duleba, I
    JOURNAL OF ROBOTIC SYSTEMS, 1997, 14 (11): : 767 - 788
  • [29] Unscented Predictive Motion Planning of a Nonholonomic System
    Farrokhsiar, M.
    Najjaran, H.
    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011,
  • [30] Nonholonomic motion planning: A polynomial fitting approach
    Wang, YJ
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 2956 - 2961
12345