Stereovision–based robot motion planning with negotiation–selection mechanism in complex environments

An interactive mechanism and modular approach is proposed for hybrid motion planning. A bidirectional interaction is designed by deliberative candidates negotiating with the feedback on reactive evaluation. The deliberative module constructs a multilayer state lattice with switching control sets. Furthermore, a heuristic multitask–parallel algorithm efficiently generates desirable paths. The reactive module designs a hierarchical structure to integrate reaction optimisation and situation–dependent adjustment. Based on manifold correlations, piecewise criteria rather than a single function are proposed to cater for different stages of planning. Extensive experiments verify the efficacy, reliability and robustness of the approach in complex environments.

• Record URL:
  https://doi.org/10.1504/IJVAS.2013.056613
• Record URL:
  http://inderscience.metapress.com/link.asp?target=contribution&id=W7382TX8747W2W12
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/50135871
• Supplemental Notes:
  • Copyright © 2013 Inderscience Enterprises Ltd.
• Authors:
  • Bai, Ming
  • Wang, Wei
  • Zhuang, Yan
• Publication Date: 2013

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; Photos; References;
• Pagination: pp 334-367
• Serial:
  • International Journal of Vehicle Autonomous Systems
  • Volume: 11
  • Issue Number: 4
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1471-0226
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=ijvas

Subject/Index Terms

• TRT Terms: Algorithms; Mobile robots; Motion; Robot vision; Trajectory control
• Uncontrolled Terms: Hierarchical data structures; Stereo vision
• Subject Areas: Design; Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01496134
• Record Type: Publication
• Files: TRIS
• Created Date: Oct 4 2013 2:33PM