非时间参考的机器人路径规划与控制方法

本文面向非结构化环境，针对传统的基于时间的规划方法的不足，提出了一种非时间参考的 机器人路径规划方法；并根据该规划的特点，设计了相应的控制算法．在这种规划方法下， 机器人遇到障碍时能自动停止运动，而当障碍物被清除后，又能沿以前的规划继续运动，避 免了系统所受到的损害和任务的重规划，提高了系统处理不确定事件的能力．

NON-TIME BASED TRAJECTORY PLANNING AND CONTROL FOR ROBOTS

This paper proposes the non-timed based robot trajectory planning method in order to overcome the disadvantage of the traditional time based planning in the non-structured environment, and designs the control law according to the speciality of this method. With this planning method, robot can automatically stop itself when it meets the obstacles; and when the obstacles were cleared away, the robot can go on its motion along the original planning. It avoids the damage of the system and the re-planning of the task, enhances the capability of the system to deal with the uncertainty events.