收藏本站
收藏 | 论文排版

A DMPs-based Switching Motion Planning Method for Robots with Obstacles

Haocun Wu  Di-Hua Zhai  Zhiqiang Xia  Yuanqing Xia  
【摘要】:Recent studies of obstacle avoidance under the Dynamic Movement Primitives(DMPs) framework are limited on the dotted obstacles. A novel obstacle avoidance algorithm based on DMPs is proposed for shaped obstacle avoidance. By combining the steering behavior method and the potential field method with the evaluation of Euclidean distance, while absorbing the switching strategy, this new algorithm performs well in mimicking the learned DMPs trajectory and handles the fluctuations occur in the initial stage of motion. The simulations of 2D DMPs trajectory learning of one-obstacle avoidance and multi-obstacle avoidance show that the algorithm is feasible with figurate obstacles, and acquires great conformability with the learned trajectory and smoothness.

知网文化
【相似文献】
中国期刊全文数据库 前17条
1 曹建福;凌志浩;袁宜峰;高冲;;Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances[J];Chinese Physics B;2014年07期
2 苏剑;王立周;;Regularity of solutions of obstacle problems[J];Academic Journal of Xi'an Jiaotong University;2007年01期
3 曾金平 ,周叔子;Two-side Obstacle Problem and Its Equivalent Linear Complementarity Problem[J];Chinese Science Bulletin;1994年13期
4 Rubo Zhang;Pingpeng Tang;Yumin Su;Xueyao Li;Ge Yang;Changting Shi;;An Adaptive Obstacle Avoidance Algorithm for Unmanned Surface Vehicle in Complicated Marine Environments[J];IEEE/CAA Journal of Automatica Sinica;2014年04期
5 郭兴明;李秀华;;Regularity of obstacle optimal control problem[J];Journal of Shanghai University;2006年01期
6 ;Potential-based obstacle avoidance in formation control[J];Journal of Control Theory and Applications;2008年03期
7 朱砾;李秀华;郭兴明;;Optimal obstacle control problem[J];Applied Mathematics and Mechanics(English Edition);2008年05期
8 秦雪;;Factorization method for inverse obstacle scattering problem in three-dimensional planar acoustic waveguides[J];Chinese Physics B;2018年10期
9 ;Target Tracking and Obstacle Avoidance for Multi-agent Systems[J];International Journal of Automation & Computing;2010年04期
10 ;Modeling and stability analysis of social foraging swarms in multi-obstacle environment[J];Journal of Control Theory and Applications;2006年04期
11 Chen-Yuan CHEN;I-Fan TSENG;Hsien-Chueh Peter YANG;Cheng-Wu CHEN;Tsung-Hao CHENe;;Profile Evolution and Energy Dissipation for Internal SolitonTransmitting over Different Submarine Ridges[J];China Ocean Engineering;2006年04期
12 Th.Michel;E.Falize;B.Albertazzi;G.Rigon;Y.Sakawa;T.Sano;H.Shimogawara;R.Kumar;T.Morita;C.Michaut;A.Casner;P.Barroso;P.Mabey;Y.Kuramitsu;S.Laffite;L.Van Box Som;G.Gregori;R.Kodama;N.Ozaki;P.Tzeferacos;D.Lamb;M.Koenig;;Analytical modelling of the expansion of a solid obstacle interacting with a radiative shock[J];High Power Laser Science and Engineering;2018年02期
13 YANG Xiuxia;ZHANG Yi;ZHOU Weiwei;;Obstacle avoidance method of three-dimensional obstacle spherical cap[J];Journal of Systems Engineering and Electronics;2018年05期
14 唐铁桥;;A Dynamic Model for a Single Helicopter in the Low Airspace with Telegraph Poles and Electrical Wire[J];Communications in Theoretical Physics;2011年12期
15 Guoxing WEN;C.L.Philip CHEN;Hui DOU;Hongli YANG;Chunfang LIU;;Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology[J];Science China(Information Sciences);2019年09期
16 ;RBSDE's with jumps and the related obstacle problems for integral-partial differential equations[J];Science in China(Series A:Mathematics);2006年04期
17 ;The Keldys-Fichera Obstacle Problem[J];Acta Mathematica Sinica(New Series);1998年03期
中国重要会议论文全文数据库 前20条
1 Peng Cheng;Yong Liu;Ke Wang;;Real-time Map Construction and Emergency Obstacle Avoidance Algorithm for Mobile Robot[A];第32届中国控制与决策会议论文集(2)[C];2020年
2 Haocun Wu;Di-Hua Zhai;Zhiqiang Xia;Yuanqing Xia;;A DMPs-based Switching Motion Planning Method for Robots with Obstacles[A];第三十九届中国控制会议论文集(4)[C];2020年
3 Wenbiao Li;Xian Yang;Jing Yan;Xiaoyuan Luo;;An obstacle avoiding method of autonomous underwater vehicle based on the reinforcement learning[A];第三十九届中国控制会议论文集(4)[C];2020年
4 Liwei An;Guang-Hong Yang;;Obstacle-Avoidance Distributed Optimal Coordination of Multiple Euler-Lagrangian Systems[A];第三十九届中国控制会议论文集(5)[C];2020年
5 Huiming Li;Hao Chen;Shaowu Yang;Xiangke Wang;;Standard Formation Generation and Keeping of Unmanned Aerial Vehicles Through a Potential Functional Approach[A];第三十九届中国控制会议论文集(5)[C];2020年
6 Zhiheng Ren;Chaofang Hu;Hao Wu;Binghan Sun;Yao Guo;;Obstacle Avoidance-based Control System Design of UAV with Suspended Payload[A];第三十九届中国控制会议论文集(6)[C];2020年
7 ZHAO Yijing;ZHENG Zheng;ZHANG Xiaoyi;LIU Yang;;Q learning algorithm based UAV path learning and obstacle avoidence approach[A];第36届中国控制会议论文集(C)[C];2017年
8 ;A New LP-based Obstacle-avoided Model in Path Planning Problem[A];2009中国控制与决策会议论文集(3)[C];2009年
9 Zheping Yan;Jiyun Li;Anzuo Jiang;Lu Wang;;An Obstacle Avoidance Algorithm for AUV Based on Obstacle's Detected Outline[A];第37届中国控制会议论文集(D)[C];2018年
10 Ali Marzoughi;;A decentralized position estimation switching algorithm to avoid a convex obstacle[A];第36届中国控制会议论文集(D)[C];2017年
11 Yang Yu;Wang Tingting;Chen Long;Zhang Weiwei;;Stereo vision based obstacle avoidance strategy for quadcopter UAV[A];第30届中国控制与决策会议论文集(1)[C];2018年
12 Jiang'an Zheng;Bo Liu;Zhijun Meng;Yaoming Zhou;;Integrated Real Time Obstacle Avoidance Algorithm Based on Fuzzy Logic and L1 Control Algorithm for Unmanned Helicopter[A];第30届中国控制与决策会议论文集(2)[C];2018年
13 Wang Xianuke;Yu Peng;Wang Huan;;Application of nursing evidence and analysis of obstacle factors in adult stroke patients with dysphagia[A];中国中西医结合学会神经外科专业委员会第六届学术大会暨广东省中西医结合学会神经外科专业委员会2019年学术年会及继续教育学习班论文汇编[C];2019年
14 Qianyu Lin;Xiaoli Wang;Yu Tong Wang;;Cooperative Formation and Obstacle Avoidance Algorithm for Multi-UAV System in 3D Environment[A];第37届中国控制会议论文集(E)[C];2018年
15 Penghua Li;Yi Mi;Chunyan He;Yuanyuan Li;;Detection and Discrimination of Obstacles to Vehicle Environment under Convolutional Neural Networks[A];第30届中国控制与决策会议论文集(1)[C];2018年
16 Chen Qian;Zhang Qisong;Hou Li;;Improved Artificial Potential Field Method for Dynamic Target Path Planning in LBS[A];第30届中国控制与决策会议论文集(2)[C];2018年
17 ;Cross Range Trajectory Optimization of Hypersonic Vehicle for Obstacle Avoidance in Level Plane[A];中国自动化学会控制理论专业委员会C卷[C];2011年
18 KeCai Cao;MengJiao Lv;Xiang Gao;PingWei Fan;;Coverage and Control of Diffusion Process based on Centroidal Voronoi Tessellations[A];第26届中国控制与决策会议论文集[C];2014年
19 Hongjian Wang;Xicheng Ban;;Research on Autonomous Collision Avoidance Method of Unmanned Surface Vessel in the circumstance of Moving Obstacles[A];第37届中国控制会议论文集(A)[C];2018年
20 Yifei Kong;Chaoyi Chen;Yuequan Yang;Zhiqiang Cao;;Path Following and Obstacle Avoidance Control Based on Different Fuzzy Grains[A];2015年中国智能自动化学术会议论文集(第二分册)[C];2015年
中国博士学位论文全文数据库 前1条
1 陈启宏;[D];复旦大学;1999年
中国硕士学位论文全文数据库 前3条
1 NASIR NURU MOHAMMEDNUR;[D];华南理工大学;2016年
2 Nadiya Korniyenko;[D];上海交通大学;2019年
3 王捷;养老院的无障碍设计[D];山西大学;2013年
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62982499
  • 010-62783978