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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2019, Vol. 1 Issue (1): 13-19    DOI: 10.1049/iet-csr.2018.0003
    
最优运动规划综述
Yajue Yang1, Jia Pan2∗, Weiwei Wan3
1 Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, China 2 Department of Computer Science, the University of Hong Kong, Hong Kong SAR, China 3 Graduate School of Engineering Science, Osaka University, Japan
Survey of Optimal Motion Planning
Yajue Yang1, Jia Pan2?, Weiwei Wan3
1 Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, China 2 Department of Computer Science, the University of Hong Kong, Hong Kong SAR, China 3 Graduate School of Engineering Science, Osaka University, Japan
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摘要： 如今，最优运动规划正变得越来越重要，并且对于学术界开发的运动规划算法能否应用于实际应用至关重要。本文主要从决策变量和问题描述、约束条件和优化目标三个方面综述了最优运动规划算法的研究现状。本文挑选并回顾了一些相关的技术，并讨论了它们的有效性和局限性。本综述中提供的并排比较有助于深入了解所回顾的方法的优点和局限性，并有助于进行系统级设计选择。
Abstract: Optimal motion planning becomes more and more important these days and is critical for motion planning algorithms developed in the academia to be applicable to real-world applications. The objective of this paper is to survey the current stateof-the-art on optimal motion planning algorithms in terms of their three main components: the decision variables and problem formulation, constraints, and objectives. A selection of proposed techniques is reviewed along with a discussion of their effectiveness and limitations. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system-level design choices.
收稿日期: 2018-12-18 出版日期: 2019-04-11
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Yajue Yang
Jia Pan
Weiwei Wan

引用本文:

Yajue Yang, Jia Pan, Weiwei Wan. Survey of Optimal Motion Planning. IET Cyber-Systems and Robotics, 2019, 1(1): 13-19.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2018.0003    或    http://www.zjujournals.com/iet-csr/CN/Y2019/V1/I1/13

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