Safe and smooth: Mobile agent trajectory smoothing by SVM
Journal
International Journal of Innovative Computing, Information and Control
Journal Volume
8
Journal Issue
7 B
Pages
4959-4978
Date Issued
2012
Author(s)
Abstract
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. © 2012 ICIC International.
Subjects
Large margin; Path planning; Safe; Smooth; Support vector machines
Other Subjects
Autonomous Vehicles; Configuration space; Decision boundary; Gaussian kernels; Gaussians; Goal configuration; Large margin; Model merging; Path generation; Path planners; Point configurations; Post-processor; Potential field; RBF kernels; Roadmap; Safe; Smooth; Voronoi; Voronoi tessellations; Working space; Computational geometry; Mobile agents; Motion planning; Support vector machines
Type
journal article