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International Conference on Intelligent Robotics and Applications

ICIRA 2015: Intelligent Robotics and Applications pp 272–283Cite as

An Analytical Local Reshaping Algorithm

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9245))

Abstract

A dynamic threat and disturbance rejected path reshaping method is proposed. The method is based upon parametric Bezier curve called Local Optimal Reshaping(LOR), which is easy to adjust the reference velocity for navigation. Before implementation, only minimal safe margin and maximum curvature are needed. The method also purposefully biases the reshaping region of each node, thus, it is computational efficient with easy implementation. Three parts are included in the whole path planner, which are kinematic path planner, disturbance rejector with path smoother, and dynamic threat avoided planner, respectively. LOR acts as main effector in disturbance rejector and dynamic threat avoided planner. Comparative simulations are provided in this paper, and results show that our method has good performance in tackling disturbance and dynamic threats.

L. Yang—It is high acknowledged that this work is partially supported by NSFC under Grant #61433016. Yang Cao is with School of Software Engineering, USTC, China.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, People’s Republic of China

    Liang Yang, Juntong Qi, Liying Yang, Yang Cao & Jianda Han

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Liang Yang & Yang Cao

  3. Department of Electrical Engineering, The City College, City University of New York, New York, USA

    Yang Cao & Jizhong Xiao

Authors
  1. Liang Yang
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  2. Juntong Qi
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  3. Liying Yang
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  4. Yang Cao
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  5. Jianda Han
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  6. Jizhong Xiao
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Corresponding author

Correspondence to Juntong Qi .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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Yang, L., Qi, J., Yang, L., Cao, Y., Han, J., Xiao, J. (2015). An Analytical Local Reshaping Algorithm. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_24

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  • DOI: https://doi.org/10.1007/978-3-319-22876-1_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22875-4

  • Online ISBN: 978-3-319-22876-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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