| 基于L1距离的人工势函数构造及机器人无碰撞路径规划方法 |
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| 引用本文： | 朱向阳,徐梦飞,钟秉林.基于L1距离的人工势函数构造及机器人无碰撞路径规划方法[J].机械工程学报,1998(3). |
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| 作者姓名： | 朱向阳 徐梦飞 钟秉林 |
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| 作者单位： | 东南大学机械工程系,南京,210096 |
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| 摘 要： | 介绍了三维空间中凸多面体间Ｌ１距离的性质及其计算方法，在此基础上提出一种基于Ｌ１距离的机器人Ｃ－空间人工势函数构造方法以及相应的机器人无碰撞路径规划方法，并对二维空间中移动机器人的无碰撞路径规划进行了图形仿真。
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| 关 键 词： | 人工势函数 无碰撞路径规划 L_1距离 机器人 |
ROBOT COLLISION-FREE PATH PLANNING:ARTIFICIAL POTENTIAL FIELD CONSTRUCTING BY UTILIZING THE L1 DISTANCE |
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| Zhu Xiangyang,Xu Mengfei,Zhong Binglin.ROBOT COLLISION-FREE PATH PLANNING:ARTIFICIAL POTENTIAL FIELD CONSTRUCTING BY UTILIZING THE L1 DISTANCE[J].Chinese Journal of Mechanical Engineering,1998(3). |
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| Authors: | Zhu Xiangyang Xu Mengfei Zhong Binglin |
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| Affiliation: | Southeast University |
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| Abstract: | The characteristics and the algorithm for computing the L 1 distance between 3 D convex polyhedra are investigated. On this basis, an artificial potential field approach for robot collision free path planning is developed with the potential function being constructed by utilizing the L 1 distance. The effectiveness of the proposed approach is demonstrated by an example of path planning for the Cartesian robot in 2 D space with graphics simulation. |
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| Keywords: | Artificial potential field Collision free path planning L 1 distance Robot |
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