Algorithm for Finding the Optimal Obstacle Avoidance Maneuver for Wheeled Robot Moving Along Trajectory

Chichkanov, Ilia; Shawin, Mihail

doi:10.1109/stab54858.2022.9807526

Cited by 3 publications

(1 citation statement)

References 6 publications

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“…Information about dynamic obstacles is collected in real time using stereo cameras, lidars and other sensors [7]. Dynamic consideration of obstacles requires the trajectory replanning [8]. Solving trajectory planning problems in real time requires a certain amount of computing resources.…”

Section: Introductionmentioning

confidence: 99%

Path Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Tormagov

2024

ARC

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In precision agriculture, path planning for agricultural robots with complete covering a three-dimensional landscape is an essential task. For robots with front wheels steering the normal curvature of the trajectories should be limited to some value determined by the characteristics of the vehicle. The paper considers a method of deformation of these paths to account for obstacles for trajectories described by homogeneous cubic B-splines. We propose an optimization problem that allows calculating paths with minimizing skips in the coverage. The considered problem is convex and belongs to the class of second-order cone programming, which entails the possibility of its computationally efficient solution. The computational examples are presented.

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Section: Introductionmentioning

confidence: 99%

Path Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Tormagov

2024

ARC

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Path Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Tormagov

2024

Autom Remote Control

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Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Tormagov

2024

Avtomatika i telemehanika

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Вточном земледелии является актуальной задача построения путей сельскохозяйственных роботов, покрывающих трехмерный участок ландшафта. Если для их реализации используются колесные роботы с рулением поворотом передних колес, то нормальная кривизна траекторий должна быть ограничена некоторой величиной, определяемой характеристиками этих машин. Вработе рассмотрен метод деформации представленных однородными кубическими B-сплайнами путей для учета препятствий. Предложена оптимизационная задача, позволяющая производить расчет путей с минимизацией пропусков в покрытии. Данная задача является выпуклой и принадлежит к классу конического программирования второго порядка, что обуславливает возможность ее вычислительно эффективного решения. Приведены примеры вычислений.

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Algorithm for Finding the Optimal Obstacle Avoidance Maneuver for Wheeled Robot Moving Along Trajectory

Cited by 3 publications

References 6 publications

Path Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Path Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Path Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

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