關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Mobile Agent Trajectory Smoothing by SVM

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序號 學年期 教師動態
1 100/2 機電系 楊智旭 副教授 期刊論文 發佈 Safe and Smooth: Mobile Agent Trajectory Smoothing by SVM , [100-2] :Safe and Smooth: Mobile Agent Trajectory Smoothing by SVM期刊論文Safe and Smooth: Mobile Agent Trajectory Smoothing by SVMYang, Chan-Yun; Yang, Jr-Syu; Lian, Feng-Li淡江大學機械與機電工程學系Path planning; Safe; Smooth; Large margin; Support vector machinesKumamoto: I C I C InternationalInternational Journal of Innovative Computing, Information and Control 8(7)pt.B, pp.4959-4978The 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 pote
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