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动态未知环境下基于相对坐标系的移动机器人实时运动规划
引用本文:张凤,谈大龙.动态未知环境下基于相对坐标系的移动机器人实时运动规划[J].机器人,2004,26(5):434-438.
作者姓名:张凤  谈大龙
作者单位:1. 中国科学院机器人学开放实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100039
2. 中国科学院机器人学开放实验室,辽宁,沈阳,110016
基金项目:国家 8 63计划资助项目 (2 0 0 1AA42 2 1 4 0 ) .
摘    要:提出了一种简单、新颖的在动态未知环境下的移动机器人运动规划方法 .此方法基于相对坐标系 ,通过传感器信息实时调整机器人的行为来实现规划 .在规划过程中 ,机器人有两种行为 :向目标运动和避碰 ,且避碰行为具有优先权 .机器人两种行为的切换是基于加速度空间的 ,首先解决的是避碰问题 ,而向目标运动是作为避碰的反问题来考虑的 .仿真研究验证了此规划方法的有效性

关 键 词:运动规划  避碰  相对坐标系  相对速度
文章编号:1002-0446(2004)05-0434-05

Mobile Robot Real-time Motion Planning Based on the Relative Coordinates in Dynamic and Unknown Environments
ZHANG Feng ,TAN Da-long.Mobile Robot Real-time Motion Planning Based on the Relative Coordinates in Dynamic and Unknown Environments[J].Robot,2004,26(5):434-438.
Authors:ZHANG Feng    TAN Da-long
Affiliation:ZHANG Feng 1,2,TAN Da-long 1
Abstract:A simple and novel motion planning method for mobile robot is presented in this paper. Motion planning is achieved by adjusting the robot behavior according to information from sensors based on the relative coordinates. The robot has two behaviors in the course of planning: moving to the goal and collision avoidance, and the collision avoidance behavior has the higher priority. The switch of two behaviors is based on the acceleration space coordinates. The problem of collision avoidance is solved, and the behavior of moving to the goal is considered as a reverse problem of the avoidance. Simulation results verify the validity.
Keywords:collision motion planning  collision avoidance  relative coordinates  relative velocity
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