KFU. Card publication. Modified spline-based path planning for autonomous ground vehicle

KAZAN
FEDERAL UNIVERSITY

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MODIFIED SPLINE-BASED PATH PLANNING FOR AUTONOMOUS GROUND VEHICLE

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2017

Язык

английский

Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Khasyanov Ayrat Faridovich, author

Bibliographic description in the original language

Magid E., Lavrenov R., Khasianov A. Modified spline-based path planning for autonomous ground vehicle // The 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) (Madrid, Spain; 26-28 July 2017) - p. 132-141.

Annotation

Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)

Keywords

Path Planning, Voronoi Diagram, Potential Field, Mobile Robot

The name of the journal

Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85029389004&doi=10.5220%2f0006442601320141&partnerID=40&md5=2f8811a2436402a52586aa707e6bbb09

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=236740&p_lang=2

Resource files

File name	Size (MB)	Format
64426.pdf	3,68	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Khasyanov Ayrat Faridovich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Magid E., Lavrenov R., Khasianov A. Modified spline-based path planning for autonomous ground vehicle // The 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) (Madrid, Spain; 26-28 July 2017) - p. 132-141.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=236740&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)	ru_RU
dc.description.abstract	Potential function based methods play significant role in global and local path planning. While these methods are characterized with good reactive behavior and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this article we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and adds additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm. The algorithm was implemented in Matlab environment and simulation results demonstrate that we succeeded to overcome our original algorithm pitfalls.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Path Planning	ru_RU
dc.subject	Voronoi Diagram	ru_RU
dc.subject	Potential Field	ru_RU
dc.subject	Mobile Robot	ru_RU
dc.title	Modified spline-based path planning for autonomous ground vehicle	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU