https://scholars.lib.ntu.edu.tw/handle/123456789/372414
標題: | Safe and smooth: Mobile agent trajectory smoothing by SVM | 作者: | Yang, C.-Y. Yang, J.-S. FENG-LI LIAN |
關鍵字: | Large margin; Path planning; Safe; Smooth; Support vector machines | 公開日期: | 2012 | 卷: | 8 | 期: | 7 B | 起(迄)頁: | 4959-4978 | 來源出版物: | International Journal of Innovative Computing, Information and Control | 摘要: | 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. |
URI: | http://www.scopus.com/inward/record.url?eid=2-s2.0-84862332110&partnerID=MN8TOARS http://scholars.lib.ntu.edu.tw/handle/123456789/372414 |
ISSN: | 13494198 | SDG/關鍵字: | 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 |
顯示於: | 電機工程學系 |
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