教師資料查詢 | 類別: 期刊論文 | 教師: 楊智旭 YANG JR-SYU (瀏覽個人網頁)

標題:Safe and Smooth: Mobile Agent Trajectory Smoothing by SVM
學年100
學期2
出版(發表)日期2012/07/01
作品名稱Safe and Smooth: Mobile Agent Trajectory Smoothing by SVM
作品名稱(其他語言)
著者Yang, Chan-Yun; Yang, Jr-Syu; Lian, Feng-Li
單位淡江大學機械與機電工程學系
出版者Kumamoto: I C I C International
著錄名稱、卷期、頁數International Journal of Innovative Computing, Information and Control 8(7)pt.B, pp.4959-4978
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.
關鍵字Path planning; Safe; Smooth; Large margin; Support vector machines
語言英文
ISSN1349-4198
期刊性質國外
收錄於SCI
產學合作
通訊作者
審稿制度
國別日本
公開徵稿
出版型式紙本
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