Автор(ы): Гилимьянов Р. Ф. (ИПУ РАН, Лаборатория 16) НЕАКТУАЛЬНАЯ ЗАПИСЬАвтор(ов): 1 Параметры публикацииТип публикации: Тезисы докладаНазвание: Path deformation method in robot motion planning problemsISBN/ISSN: 966-76-52-00-9Наименование конференции: Dynamical System Modelling and Stability Investigation. Modelling and Stability. Kiev State University, 2005.Наименование источника: Abstracts of the XV International Conference on Dynamical System Modeling and Stability Investigation (DSMSI’2011, Kiev)Город: KievИздательство: KievГод издания: 2011Страницы: 340 АннотацияIn the paper, a new method for deformation of a preplanned path is proposed to generate smooth collision-free paths. It is assumed that there is an initial collision-free path for a robot to follow, which was created by means of an environment map. If, due to changes in the environment, unexpected obstacles are detected on the path, the remaining part of the path is deformed by shifting the reference points. New positions of the shifted points are calculated by solving an unconstrained optimization problem. The functional to be minimized includes potential function defined by the obstacles (which prevents the path to pass through them), penalty for increasing the path length, and penalty associated with deviations from the original positions. To smooth and reduce curvature of the path, additional terms may be added. Библиографическая ссылка: Гилимьянов Р.Ф. Path deformation method in robot motion planning problems / Abstracts of the XV International Conference on Dynamical System Modeling and Stability Investigation (DSMSI’2011, Kiev). Kiev: Kiev, 2011. С. 340.