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ociate Research Fellow 劉進興 研
究
Jing-Sin Liu 人
員
Ph.D., Electrical Engineering, National Taiwan University, Taiwan Faculty
T +86-2-2788-3799 ext. 1813 E liu@iis.sinica.edu.tw
F +886-2-2782-4814 W www.iis.sinica.edu.tw/pages/liu
・ Associate Research Fellow, Institute of Information Science , Academia Sinica (1994
April-present)
・ Assistant Research Fellow, Institute of Information Science , Academia Sinica (1990
Aug.-1994 April)
・ IEEE Senior Member (2016 Feb.-present)
Research Description
Trajectory generation for unmanned vehicles in the presence of safety constraints and operating limits (such as bounds on velocity,
acceleration, jerk and curvature) is challenging. Over these years, we have studied the path planning problems from the perspective: a high
level trajectory planning based on a simple vehicle model that ignores high order e ect, while a low level path follower or the control design
based on realistic, detailed, complicated dynamic model. Topics that we have studied include the smooth path planning problems using
di erent path primitives for wheeled mobile robots and coverage path planning problems for unmanned aerial vehicles. With advances in
computing power, optimal control can be used to formulate and solve for the increasingly more complex real-time optimal maneuvering
problems of unmanned vehicles (such as UAVs) that require minimizing a cost functional. We study aggressive (time-optimal) state-to-
state transfer driving maneuver (e.g. lane change), given the input and state constraints, boundary conditions, and the vehicle motion
model, possibly with uncertainties. Numerical solvers for boundary value problems based on necessary optimality conditions derived from
Pontryagin Maximum Principle are implemented.
1. Liu JS, Pan WH, Ku WY, Tsao YH, Chang YZ, 2016, Publications
"Simulation-based fast collision detection for scaled convex
polyhedral objects in motion by exploiting analytical contact 6. Hsuan-Cheng Liao and Jing-Sin Liu,(2019)"A Model-Based
equations," Robotica, vol.34, no.1, pp.118-134, 2016. Reinforcement Learning Approach to Time-Optimal Control
Problems," 32nd International Conference on Industrial,
2. Wu, K. L., Ho, T. J., Huang, S. A., Lin, K. H., Lin, Y. C., & Liu, Engineering & Other Applications of Applied Intelligent Systems
J. S. (2016). Path Planning and Replanning for Mobile Robot (IEA/AIE-2019), Graz, Austria, July 2019.
Navigation on 3D Terrain: An Approach Based on Geodesic.
Mathematical Problems in Engineering, Volume 2016, Article ID 7. CY Lin and JS Liu, 2019, "Reduce of DenseNet for UAV,"
2539761, 12 pages http://dx.doi.org/10.1155/2016/2539761 International Workshop of Intelligent Artificial Life and Robotics
Taiwan, Douliu YunLin, Taiwan, June 2019 (poster). Extended
3. Kuo, P. L., Wang, C. H., Chou, H. J., & Liu, J. S. (2018). A Real- version in Automation 2019, NTUST, Taipei, Taiwan, Nov. 2019.
Time Hydrodynamic-Based Obstacle Avoidance System for Non-
holonomic Mobile Robots with Curvature Constraints. Applied 8. WC Tung and JS Liu (2019),"Genetic algorithm with modified
Sciences, 8(11), 2144. operators for integrated traveling salesman problem and coverage
path planning problem," 16th International Conference on Applied
4. Wu, C. S., Chiu, Z. Y., & Liu, J. S. (2018). Time-Optimal Computing, Cagliari, Italy, Nov. 2019. Code https://github.com/
Trajectory Planning along Parametric Polynomial Lane-Change WJTung/GA-TSPCPP
Curves with Bounded Velocity and Acceleration: Simulations
for a Unicycle Based on Numerical Integration. Modeling and 9. TW Hsu and JS Liu (2020),"Design of smooth path based on
Simulation in Engineering, Volume 2018, Article ID 9348907, 19 the conversion between eta3 spline and Bezier curve," 2020
pages American Control Conference, Denver, CO, USA, July, 2020.
5. Chou HJ and and Liu, J.-S. (2018) "Numerical Study of Brochure 2020
Hamilton-Jacobi-Bellman Equation for Time-Optimal Trajectory
Generation of Dubins Vehicle," 12th AIMS Conference on
Dynamical Systems, Differential Equations and Applications,
Taipei, Taiwan, July, 2018.
179
究
Jing-Sin Liu 人
員
Ph.D., Electrical Engineering, National Taiwan University, Taiwan Faculty
T +86-2-2788-3799 ext. 1813 E liu@iis.sinica.edu.tw
F +886-2-2782-4814 W www.iis.sinica.edu.tw/pages/liu
・ Associate Research Fellow, Institute of Information Science , Academia Sinica (1994
April-present)
・ Assistant Research Fellow, Institute of Information Science , Academia Sinica (1990
Aug.-1994 April)
・ IEEE Senior Member (2016 Feb.-present)
Research Description
Trajectory generation for unmanned vehicles in the presence of safety constraints and operating limits (such as bounds on velocity,
acceleration, jerk and curvature) is challenging. Over these years, we have studied the path planning problems from the perspective: a high
level trajectory planning based on a simple vehicle model that ignores high order e ect, while a low level path follower or the control design
based on realistic, detailed, complicated dynamic model. Topics that we have studied include the smooth path planning problems using
di erent path primitives for wheeled mobile robots and coverage path planning problems for unmanned aerial vehicles. With advances in
computing power, optimal control can be used to formulate and solve for the increasingly more complex real-time optimal maneuvering
problems of unmanned vehicles (such as UAVs) that require minimizing a cost functional. We study aggressive (time-optimal) state-to-
state transfer driving maneuver (e.g. lane change), given the input and state constraints, boundary conditions, and the vehicle motion
model, possibly with uncertainties. Numerical solvers for boundary value problems based on necessary optimality conditions derived from
Pontryagin Maximum Principle are implemented.
1. Liu JS, Pan WH, Ku WY, Tsao YH, Chang YZ, 2016, Publications
"Simulation-based fast collision detection for scaled convex
polyhedral objects in motion by exploiting analytical contact 6. Hsuan-Cheng Liao and Jing-Sin Liu,(2019)"A Model-Based
equations," Robotica, vol.34, no.1, pp.118-134, 2016. Reinforcement Learning Approach to Time-Optimal Control
Problems," 32nd International Conference on Industrial,
2. Wu, K. L., Ho, T. J., Huang, S. A., Lin, K. H., Lin, Y. C., & Liu, Engineering & Other Applications of Applied Intelligent Systems
J. S. (2016). Path Planning and Replanning for Mobile Robot (IEA/AIE-2019), Graz, Austria, July 2019.
Navigation on 3D Terrain: An Approach Based on Geodesic.
Mathematical Problems in Engineering, Volume 2016, Article ID 7. CY Lin and JS Liu, 2019, "Reduce of DenseNet for UAV,"
2539761, 12 pages http://dx.doi.org/10.1155/2016/2539761 International Workshop of Intelligent Artificial Life and Robotics
Taiwan, Douliu YunLin, Taiwan, June 2019 (poster). Extended
3. Kuo, P. L., Wang, C. H., Chou, H. J., & Liu, J. S. (2018). A Real- version in Automation 2019, NTUST, Taipei, Taiwan, Nov. 2019.
Time Hydrodynamic-Based Obstacle Avoidance System for Non-
holonomic Mobile Robots with Curvature Constraints. Applied 8. WC Tung and JS Liu (2019),"Genetic algorithm with modified
Sciences, 8(11), 2144. operators for integrated traveling salesman problem and coverage
path planning problem," 16th International Conference on Applied
4. Wu, C. S., Chiu, Z. Y., & Liu, J. S. (2018). Time-Optimal Computing, Cagliari, Italy, Nov. 2019. Code https://github.com/
Trajectory Planning along Parametric Polynomial Lane-Change WJTung/GA-TSPCPP
Curves with Bounded Velocity and Acceleration: Simulations
for a Unicycle Based on Numerical Integration. Modeling and 9. TW Hsu and JS Liu (2020),"Design of smooth path based on
Simulation in Engineering, Volume 2018, Article ID 9348907, 19 the conversion between eta3 spline and Bezier curve," 2020
pages American Control Conference, Denver, CO, USA, July, 2020.
5. Chou HJ and and Liu, J.-S. (2018) "Numerical Study of Brochure 2020
Hamilton-Jacobi-Bellman Equation for Time-Optimal Trajectory
Generation of Dubins Vehicle," 12th AIMS Conference on
Dynamical Systems, Differential Equations and Applications,
Taipei, Taiwan, July, 2018.
179
