| 机器人运动规划方法的研究 |
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| 引用本文： | 王小忠,孟正大.机器人运动规划方法的研究[J].控制工程,2004,11(3):280-284. |
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| 作者姓名： | 王小忠 孟正大 |
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| 作者单位： | 东南大学,自动控制系,江苏,南京,210096 |
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| 基金项目： | 江苏省"十五"攻关资助项目(BE20002031) |
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| 摘 要： | 针对路径规划以及碰撞检测这一研究的重点问题，提出了G-空间法、人工势力场法、遗传算法等。序列规划问题一般转化为旅行商问题来求解。在综合现有序列规划和路径规划方法的基础上，提出两种机器人运动规划算法：基于任意路径的运动规划算法和基于直线路径的运动规划算法，思路简单，能对各种机器人工程任务进行运动规划。
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| 关 键 词： | 机器人 运动规划 序列规划 路径规划 碰撞检测 |
| 文章编号： | 1671-7848(2004)03-0280-05 |
| 修稿时间： | 2003年9月13日 |
Research of Robot Motion Planning |
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| WANG Xiao-zhong,MENG Zheng-da.Research of Robot Motion Planning[J].Control Engineering of China,2004,11(3):280-284. |
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| Authors: | WANG Xiao-zhong MENG Zheng-da |
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| Abstract: | Path planning and collision examining are the focuses of researches, and many algorithms have been put forward, such as C-space method, potential field method and genetic method etc. The problem of sequence planning can be translated into Traveling Salesman Problem (TSP). On the basis of researches of the past, it puts forward two robot motion planning algorithms: robot motion planning algorithm based on arbitrary paths and robot motion planning algorithm based on straight line paths. Both of the algorithms are simple and can be used for all kinds of robot complicated tasks. |
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| Keywords: | robot motion planning sequence planning path planning collision examining |
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