直交座標操作による力学系ベースの障害物回避
Study of dynamical system based obstacle avoidance via manipulating orthogonal coordinates
直交座標を導入して変調行列を構成し、回転行列で局所解問題を解く力学系ベースの障害物回避手法を提案した論文。
著者: Weiya Ren
分類: cs.CV, cs.RO, cs.SY, eess.SY
原文アブストラクト
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new trajectory's direction can be represented by the linear combination of orthogonal coordinates. A orthogonal coordinates manipulating approach is proposed by introducing rotating matrix to solve the local minimal problem and provide more reasonable motions in 3-D or higher dimension space. The proposed method also provide a solution for patrolling around a convex shape. Experimental results on several designed dynamical systems demonstrate the effectiveness of the proposed approach.