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基于目标向量的非全向测距机器人路径规划
引用本文:刘奇,宋凯,张世平,王祁.基于目标向量的非全向测距机器人路径规划[J].电子测量技术,2012,35(5):73-77.
作者姓名:刘奇  宋凯  张世平  王祁
作者单位:哈尔滨工业大学电气工程及自动化学院 哈尔滨 150001
基金项目:国家自然科学基金(60871034)
摘    要:设计了以DSP TMS320F28335为核心的非全向测距室内移动机器人,通过DSP控制超声波传感器阵列来获取障碍物信息。并且基于此机器人系统,提出一种基于目标向量的路径规划算法,该算法不仅融合了TangentBug算法机器人行为简单、全局收敛的特点,又解决了TangentBug算法仅能应用于全向测距质点机器人的问题。实验结果表明,在该算法下,机器人能够在多种类、多障碍的位置环境下有效避开障碍物,到达定目标点。

关 键 词:目标向量  路径规划  非全向测距

Non-omni directional range Measuring robot path planning based on target-vector
Liu Qi , Song Kai , Zhang Shiping , Wang Qi.Non-omni directional range Measuring robot path planning based on target-vector[J].Electronic Measurement Technology,2012,35(5):73-77.
Authors:Liu Qi  Song Kai  Zhang Shiping  Wang Qi
Affiliation:Liu Qi Song Kai Zhang Shiping Wang Qi(School of Electrical Engineering and Automation,Harbin Institute of Technology,Harbin 150001)
Abstract:A non-omni directional range measuring indoor mobile robot based on DSP TMS320F28335 is designed,under the control of DSP,the robot can obtain information of obstacles from ultrasonic sensor array.And on the basis of this kind of robot,we present a new path planning algorithm based on Target-Vector.The algorithm not only combines the features(simple robot behaviors,global convergence) of TangentBug,but also solves the problem that TangentBug can only be applied to Omni directional range measuring robot.The experiments show,under this algorithm,a robot can effectively avoid various obstacles and reach the target.
Keywords:target-vector  path planning  non-omni directional range measuring
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