- Tytuł:
- Reliable robust path planning with application to mobile robots
- Autorzy:
-
Pepy, R.
Kieffer, M.
Walter, E. - Powiązania:
- https://bibliotekanauki.pl/articles/930096.pdf
- Data publikacji:
- 2009
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
analiza interwałowa
planowanie trajektorii
sterowanie odporne
interval analysis
path planning
robust control
state-space models - Opis:
- This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2009, 19, 3; 413-424
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł