共查询到18条相似文献,搜索用时 125 毫秒
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基于规则的移动机器人实时运动规则 总被引:4,自引:1,他引:4
研究移动机器人在动态环境中的导航与避障问题,为提高规划的实时性,提出了基于规则的规划方法,将多移动障碍环境机器人的运动规划分解为相对简单的单移动障碍运动规划,利用最优控制来实现单障碍的最优避障,并用智能搜索方法解决了移动机器人在多移动障碍环境中的实时运动规划问题。仿真实例表明了该方法的有效性。 相似文献
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基于专家系统的多移动机器人模糊自校正协调系统 总被引:1,自引:1,他引:1
研究多移动机器人的运动规划问题,在实时运动规划专家系统的基础上提出了一种串级模糊控制器,以校正实际工作环境下各机器人的运动状态与理想情况下可能产生的误差,使各机器人正确调整各自运动状态,达到协调工作的目的。 相似文献
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本文基于运动规划的拓扑方法,针对机械手的装配环境,提出了一种能应付突发意外事件-即能躲避突发障碍继续到达目标位置的运动规划方法,该方法主要包含三部分:用已知信息进行运动规划;遇到突发障碍后进行局部调整;局部调整失败时进行全局重规划,本文给出一种运动规划器ETTMP,经实验测试,该规划器具有较强的鲁棒性和实时性,为智能机器人的实用化研究提供了一种方法。 相似文献
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虚拟轴数控机床刀具运动状态的实时规划 总被引:2,自引:0,他引:2
提出了虚拟轴数控机床的递阶控制方法, 并着
重介绍了递阶控制的第一级——刀具运动状态实时规划所涉及的切削路径生成、刀具运动路
径计算和刀具运动姿态规划三个关键问题的求解过程, 为虚拟轴机床数控系统的研究开发奠
定了必要的理论与技术基础. 相似文献
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Personal robotics is a new and attractive use of robotic technologies. In this paper we study one of its important topics—real-time motion planning of personal robots. We propose to use primitive motions and their combinations to make this possible. The primitive motion has a unified pattern and is borrowed from the motion pattern of human hands observed by previous researchers. The pattern is simple yet powerful and can form complex trajectories. A reflexive motion control scheme is proposed to activate appropriate primitive motions for a desired motion. As a result, real-time motion planning of personal robots becomes possible by using discrete and sparse human commands. Experiments results are presented to show the effectiveness of the proposed scheme. 相似文献
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Sensor-Based Control Architecture for a Car-Like Vehicle 总被引:4,自引:0,他引:4
C. Laugier Th. Fraichard Ph. Garnier I.E. Paromtchik A. Scheuer 《Autonomous Robots》1999,6(2):165-185
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures for autonomous robot systems, it combines three functional components: a set of basic real-time skills, a reactive execution mechanism and a decision module. The main novelty of the architecture proposed lies in the introduction of a fourth component akin to a meta-level of skills: the sensor-based manoeuvers, i.e., general templates that encode high-level expert human knowledge and heuristics about how a specific motion task is to be performed. The concept of sensor-based manoeuvers permit to reduce the planning effort required to address a given motion task, thus improving the overall response-time of the system, while retaining the good properties of a skill-based architecture, i.e., robustness, flexibility and reactivity. The paper focuses on the trajectory planning function (which is an important part of the decision module) and two types of sensor-based manoeuvers, trajectory following and parallel parking, that have been implemented and successfully tested on a real automatic car-like vehicle placed in different situations. 相似文献
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机器人运动关节的伺服系统是机器人控制系统的基础,伺服系统的好坏决定了机器人整体性能的优劣。基于5自由度排爆机器人,使用Simulink设计出运动关节的伺服系统框图,并通过xPC目标系统生成可运行于PC104的实时控制系统。该系统采用先进PID控制器,具有专家特性。运行结果表明,该方案取得了良好的效果,机器人关节运动平稳且无静态误差,系统具有很好的鲁棒性和实时性。该伺服系统不但可用于机器人运动关节的伺服控制,还可以应用于数控机床等位置控制系统。 相似文献
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The solution of constrained motion planning is an important task in a wide number of application fields. The real-time solution
of such a problem, formulated in the framework of optimal control theory, is a challenging issue. We prove that a real-time
solution of the constrained motion planning problem for multibody systems is possible for practical real-life applications
on standard personal computers.
The proposed method is based on an indirect approach that eliminates the inequalities via penalty formulation and solves the
boundary value problem by a combination of finite differences and Newton–Broyden algorithm. Two application examples are presented
to validate the method and for performance comparisons. Numerical results show that the approach is real-time capable if the
correct penalty formulation and settings are chosen. 相似文献
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阐述了专家控制系统的特点和中央空调控制要求,描述职中央空调实时专家控制系统结构,详细讨论了该系统的软硬件设计。该系统是以单片机作为下位机,以486微型计算机作为上位机的小型分布式系统。软件的设计着重于实时专家控制软件的开发。 相似文献
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For real-time applications of expert systems, success depends on the computational efficiency of the implementation. In this study, we propose an analytical method for evaluating the processing time of forward-chaining rule-based systems. An upper bound based on this system model is developed. If the upper bound stays within the time available for planning the operational or control task, the expert system would be able to complete the rule-processing in time. To compute the upper bound, the worst case working memory element sets are obtained for each functional step of the matching procedure. The worst case time for rule selection in the conflict resolution step is also derived. The maximal number of firings for each rule is considered in order to arrive at a bound for total processing time. Numerical examples are presented which point out the importance of rule and data structures in the efficient implementation of rule-based systems. 相似文献