A new LP-based obstacle-avoided model in path planning problem

  • Authors:

  • Liying Yang;Chengdong Wu;Jianda Han;Xingang Zhao;Yiyong Nie

  • Affiliations:

  • State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang and Graduate School, Chinese Academy of Sciences, Beijing;School of Information Science & Engineering, Northeast University, Shenyang;State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang;State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang;State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang

  • Venue:
  • CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
  • Year:
  • 2009

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Abstract

A new linear programming obstacle-avoided model is presented in target pursuit and obstacle-avoided problem. The obstacle-avoided model only has the linear program once for obstacle avoidance at one time step. The collision forecasting domain of vehicle and obstacle is obtained, which can prevent the happening of collision between vehicle and obstacle. In the target pursuit problem, the dynamic equation of mass point with linear damping is taken as the state equation of vehicle's motion. "Expansible Target Size" is proposed to describe the pursuit process for target. The Linear programming method is used to model and solve the obstacle-avoided pursuit problem. Finally, simulation is given to show the efficiency of the method.