| 行为控制月球车路径规划技术 |
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| 引用本文： | 居鹤华, 崔平远, 崔祜祷. 行为控制月球车路径规划技术. 自动化学报, 2004, 30(4): 572-577. |
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| 作者姓名： | 居鹤华 崔平远 崔祜祷 |
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| 作者单位： | 1.哈尔滨工业大学深空探测基础研究中心,哈尔滨;;;2.北京工业大学电控学院,北京 |
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| 基金项目： | 国防基础科研基金(J1600B001)资助~~ |
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| 摘 要： | 提出了一种新的路径规划方法即自主行为路径规划方法.该方法能够自动构造大范围自然环境下与路径规划任务相关的一类拓扑结构,从而大大地提高自然环境下月球车路径规划速度.该方法在Tangent-Bug切线法基础上引入一组自适应行为来构造切线拓扑图,它是人工路径规划行为的模仿,克服了计算几何路径规划方法非线性计算时间的不足.文中给出了相关定义、定理、算法及真实环境下的仿真结果.
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| 关 键 词： | 路径规划 行为控制 基于行为的控制 月球车 机器人 |
| 收稿时间： | 2002-05-14 |
| 修稿时间： | 2002-05-14 |
Autonomous Behavior Path Planning for Lunar Rover |
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| JU He-Huau, CUI Ping-Yuanz, CUI Hu-Tao. Autonomous Behavior Path Planning for Lunar Rover. ACTA AUTOMATICA SINICA, 2004, 30(4): 572-577. |
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| Authors: | JU He-Huau CUI Ping-Yuanz CUI Hu-Tao |
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| Affiliation: | 1. Deep Space Exploration Research Center,Harbin Institute of Technology,Harbin;School of Electronic Information and Control Engineering,Beijing University of Technology,Beijing |
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| Abstract: | This paper deals with a new autonomous behavior path planning method for the lunar rover, which adapts to any obstacles and allows for the real world with large area. The path-planning scheme greatly improves computation egeometrics based path planning methods by using a group of adaptive and oriental behaviors which simulate hu-man behaviors for path planning to construct the topological graph of Tangent-Bug auto-matically and quickly. At the same time, basic terms, definitions and theorems of the method as well as simulation results in the real world are presented. |
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| Keywords: | Path planning behavior control behavior-based control lunar rover robot |
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