论文标题
使用胡萝卜播种算法的无人系统的路径计划
Path Planning of Unmanned System using Carrot-chasing Algorithm
论文作者
论文摘要
当针对任务至关任务的任务启动无人系统时，必须遵循预定的路径。这意味着无人系统需要遵循算法完成任务的路径。由于预定的路径通常由一组数据点给出，因此不仅没有预定路径的曲率和导数，而且还需要大尺寸的板载内存。在这项工作中，我们研究了一个简单的路径，遵循称为胡萝卜播种算法的算法，该算法使用以比例控制器的形式使用简单的控制器来控制无人系统的运动。
When an unmanned system is launched for a mission-critical task, it is required to follow a predetermined path. It means the unmanned system requires a path following algorithm for the completion of the mission. Since the predetermined path is typically given by a set of data-points, not only the curvature and derivative of the pre-determined path are absent, but also it requires a large size of on-board memory. In this work, we study a simple path following algorithm called Carrot-chasing algorithm that uses a simple controller in the form of a proportional controller to control the movement of an unmanned system.
