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    题名: Safe and Smooth: Mobile Agent Trajectory Smoothing by SVM
    作者: Yang, Chan-Yun;Yang, Jr-Syu;Lian, Feng-Li
    贡献者: 淡江大學機械與機電工程學系
    关键词: Path planning;Safe;Smooth;Large margin;Support vector machines
    日期: 2012-07
    上传时间: 2013-03-11 17:16:08 (UTC+8)
    出版者: Kumamoto: I C I C International
    摘要: The paper presents a model merging Voronoi tessellation with an underlying support vector machine (SVM) in order to develop path planning for guiding an autonomous vehicle safely and smoothly through a space with obstacles. Being a roadmap method for path generation, the Voronoi tessellation is employed as a preprocessor to roughly fit a connection between the initial and goal configurations. Though the Voronoi path is safe for obstacle avoidance, its disjoint linear edges are unsatisfactory when smoothness is requested. Hence, an SVM postprocessor is proposed to make the segmented path smoother. By analogue to the Gaussian potential field, a zero-potential curve in the configuration space is thus obtained by the SVM postprocessor and forms a safe and smooth path. Due to advantages of the SVM with RBF kernel, the post-processed path has the merits of both smoothness from the Gaussian kernel basis, and wide clearance from the large-margin decision boundary. This paper adopts point configurations to represent obstacles in the working space. With additional artificial points for auxiliary constraints, the two-stage path planner is then developed. Detailed property investigations and simulated applications are also included to characterize the path planner. The results of a practical demonstration show a promising future for further applications.
    關聯: International Journal of Innovative Computing, Information and Control 8(7)pt.B, pp.4959-4978
    显示于类别:[機械與機電工程學系暨研究所] 期刊論文

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