区分多項式型の軌道生成アルゴリズムを用いた実時間障害物回避

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  • Real-Time Obstacle Avoidance with Reference Generation Algorithm using Piecewise Polynomials.
  • クブン タコウシキ ケイシキ ノ キドウ セイセイ アルゴリズム オ モチイタ

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This paper presents a real time obstacle avoidance algorithm with the reference generator using piecewise polynomials. The algorithm consists of three steps. At the first step, by using the future information of path, the interaction point of the pilot point and obstacles are checked. At the second step, the intermittent point data for the trajectory generator are generated not to collide with the obstacles, where the collision point is projected on an arbitrary point on the circumference at a distance from the obstacles. At the third step, using the new data a collision free path is generated by the reference generator using piecewise polynomials. Some results of computer simulation are shown to evaluate the effectiveness of the proposed method.

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