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相關文獻
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頁籤選單縮合
題 名 | Trajectory Planning of Autonomous Vehicles with Velocity Constraints in Agricultural Environment=在速度限制下及農業環境中自動導引車之軌跡規劃 |
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作 者 | 周瑞仁; 蔡俊智; | 書刊名 | 農業機械學刊 |
卷 期 | 3:4 1994.12[民83.12] |
頁 次 | 頁47-56 |
分類號 | 434.25 |
關鍵詞 | 軌跡規劃; 自動導引車; 避障; Trajectory planning; Autonomous vehicle; Obstacle avoidance; |
語 文 | 英文(English) |
中文摘要 | 根據測距掃瞄器測得的資料,發展一套有效的測算法可以使自動導引車朝向目標前進而不致碰撞農業環境中的移動障礙物,同時也考慮導引車之速度限制。在這雜亂環境中的障礙物可能是各式各樣規則與不規則形狀,同時也可能是在移動狀態之下,軌跡規劃的複雜度隨著描環境參數的個數增可而增加,為了簡化軌跡規劃之運算,方法之一是以近似方式描述車體及障礙物,為此發展一種簡單的互補圓弧障礙物描述法,這些互補圓弧將工作空間劃分成禁制區與可行區,此種表示法可以簡單地模擬各種障礙物的形狀。在速度限制的考量之下,將朝向某個障礙物行進的速度向量區捨棄,便得出對應此障礙物之可行速度向量區,然後對所有障礙物所對應的可行速度向量區取聯集,即道出最終遊障速度向量區。根據此最終避障速度向量區及簡單的規則即可求得瞬時最佳障速度。此避障軌跡規畫演算法可以使自動導引車從起始點安全而迅速地到達目地點。最後,以C語言寫成模擬程式用來驗證演算法的結果。 |
英文摘要 | For the trajectory panning of an autonomous vehicle roving in agricultural environments, a simple and efficient algorithm was developed to guide the vehicle toward a target without collision based on data obtained from range scanners. Meanwhile, velocity constratints for the vehicle were also taken into consideration. Obstacles in such an unstructured environment might be in any shape and in motion. The complexity of trajectory planning increases with the number of configuration parameters that define the environment. One way to simplify the algorithm of trajectory planning was to describe the shapes of vehicles and obstacles approximately. For the purpose, the obstacles were mathematically modeled as complementary sectors; they divided a workspace into forbidden areas and feasible areas. The representation simulated various kinds of obstacles in a simpler manner. Under the consideration of velocity constrains, we could obtain the feasible regions of velocity for obstacle avoidance after removing the portions that made the vehicle move toward a specific obstacle. In order to derive a collision-free algorithm for all obstacles, we superimposed these feasible regions of velocity corresponding to each obstacle to find the ultimate feasible regions of velocity. An instantaneous optimal velocity could be obtained based on the ultimate feasible regions and a couple of simple rules. The algorithm developed was able to guide a vehicle toward a specified target from a starting point safely and quickly. Finally, a simulation program in C language was developed to verify the proposed algorithm. |
本系統中英文摘要資訊取自各篇刊載內容。