dc.contributor.author |
Magid E. |
|
dc.contributor.author |
Lavrenov R. |
|
dc.contributor.author |
Afanasyev I. |
|
dc.date.accessioned |
2018-04-05T07:10:27Z |
|
dc.date.available |
2018-04-05T07:10:27Z |
|
dc.date.issued |
2017 |
|
dc.identifier.uri |
http://dspace.kpfu.ru/xmlui/handle/net/130456 |
|
dc.description.abstract |
© 2017 IEEE. Optimal path planning in dynamic environments for an unmanned vehicle is a complex task of mobile robotics that requires an integrated approach. This paper describes a path planning algorithm, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights. We introduce a set of key parameters for path optimization and the algorithm implementation in MATLAB. The developed algorithm is suitable for fast and robust trajectory tuning to a dynamically changing environment and is capable to provide efficient planning for mobile robots. |
|
dc.subject |
optimization criteria |
|
dc.subject |
path planning |
|
dc.subject |
Unmanned Ground Vehicle (UGV) |
|
dc.subject |
voronoi diagram |
|
dc.title |
Voronoi-based trajectory optimization for UGV path planning |
|
dc.type |
Conference Paper |
|
dc.collection |
Публикации сотрудников КФУ |
|
dc.relation.startpage |
383 |
|
dc.source.id |
SCOPUS-2017-SID85025841109 |
|