Open Access
Combining safe interval path planning and constrained path following control: Preliminary results
Publication type: Book Chapter
Publication date: 2019-08-12
scimago Q2
SJR: 0.352
CiteScore: 2.4
Impact factor: —
ISSN: 03029743, 16113349, 18612075, 18612083
Abstract
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques.
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Citations from 2024:
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Yakovlev K. et al. Combining safe interval path planning and constrained path following control: Preliminary results // Lecture Notes in Computer Science. 2019. Vol. 11659 LNAI. pp. 310-319.
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Yakovlev K., Andreychuk A., Belinskaya J., Makarov D. Combining safe interval path planning and constrained path following control: Preliminary results // Lecture Notes in Computer Science. 2019. Vol. 11659 LNAI. pp. 310-319.
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TY - GENERIC
DO - 10.1007/978-3-030-26118-4_30
UR - https://doi.org/10.1007/978-3-030-26118-4_30
TI - Combining safe interval path planning and constrained path following control: Preliminary results
T2 - Lecture Notes in Computer Science
AU - Yakovlev, Konstantin
AU - Andreychuk, Anton
AU - Belinskaya, Julia
AU - Makarov, DV
PY - 2019
DA - 2019/08/12
PB - Springer Nature
SP - 310-319
VL - 11659 LNAI
SN - 0302-9743
SN - 1611-3349
SN - 1861-2075
SN - 1861-2083
ER -
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BibTex (up to 50 authors)
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@incollection{2019_Yakovlev,
author = {Konstantin Yakovlev and Anton Andreychuk and Julia Belinskaya and DV Makarov},
title = {Combining safe interval path planning and constrained path following control: Preliminary results},
publisher = {Springer Nature},
year = {2019},
volume = {11659 LNAI},
pages = {310--319},
month = {aug}
}