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智能建造机器人作为落实建筑业智能化转型的关键设备,其自主施工能力代表着智能建造的水平,而局部路径规划是机器人高效施工的关键技术。针对建筑施工现场的环境特点,探究了智能建造机器人局部路径规划的难点。首先分析阐述了人工势场、时间弹性带、Bug、动态窗口等经典局部路径规划算法;其次对强化学习、深度强化学习、模糊控制、群智能等人工智能的局部路径规划算法进行了归纳总结;最后分析了各种方法在施工现场环境中智能建造机器人应用的局限性,讨论了智能建造机器人局部路径规划算法的发展趋势,旨在为复杂施工现场智能建造机器人局部路径规划研究提供一定的思路和建议,提高机器人的自主施工能力,促进智能建造技术的发展。 相似文献
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路径规划是移动机器人导航技术研究中一个重要环节和课题。规划的方法可以分为传统的路径规划方法和智能化的路径规划方法。本文对于当前普遍采用的遗传算法、模糊逻辑算法、神经网络、蚁群优化算法、粒子群算法、启发式搜索法等智能路径规划方法进行了较为详细的介绍和分析,并展望了机器人路径规划技术的未来与发展趋势。 相似文献
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为了提高智能巡检机器人的路径规划能力,提出了基于视觉感知的智能巡检机器人全局避障路径规划方法.将线性代数与马尔科夫理论应用于卡尔曼滤波器中,对环境图像进行降噪处理.在降噪图像基础上,设计全局避障路径规划算法.至此,完成智能巡检机器人全局避障路径规划.通过仿真实验,对比传统方法可知,该方法的障碍物碰撞率低于4%,位移误差... 相似文献
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移动机器人路径规划技术综述 总被引:20,自引:3,他引:20
智能移动机器人路径规划问题一直是机器人研究的核心内容之一.将移动机器人路径规划方法概括为:基于模版匹配路径规划技术、基于人工势场路径规划技术、基于地图构建路径规划技术和基于人工智能的路径规划技术.分别对这几种方法进行总结与评价,最后展望了移动机器人路径规划的未来研究方向. 相似文献
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提出了移动机器人的一种全局路径规划与局部路径规划相结合的新型算法.在以TMS320LS2407A为核心处理器设计的移动机器人平台上,研究移动机器人智能路径规划的算法问题并予以实现.上位机规划机器人的最优路径,并通过与机器人无线通信,发送路径信息,实时接收机器人方位信息.上位机通过操作应用程序对机器人进行监控.机器人能够自主计算轨迹并准确跟踪路径,检测到障碍物后,智能地重新规划路径,避开障碍物到达目的地.实验结果表明:该方法能有效实现机器人的最佳行走路线规划. 相似文献
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研究移动机器人路径规划问题.移动机器人路径规划是一个多目标优化问题,由于避障定位要求,传统机器人路径规划优化方法存在算法复杂、搜索空间大和效率低等难题,难以获得最优解.为了提高机器路径规划的效率和定位准确性,提出了一种蚁群算法的移动机器人路径规划方法.蚁群算法的路径规划方法首先采用栅格法对机器人工作环境进行建模,然后将机器人出发点作为蚁巢位置,路径规划最终目标点作为蚁群食物源,通过蚂蚁间相互协作找到-条避开障碍物的最优机器人移动路径.仿真实验结果证明,蚁群算法的路径规划方法提高了机器人路径规划的效率,能在最短时间找到机器人路径规划最优解,且能安全避开障碍物,为优化设计提供了依据. 相似文献
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全局路径规划是移动机器人室外工作的关键技术,全局路径规划相关算法主要应用于地理场景预知的室外环境中,机器人面对复杂多变的室外环境,通过对算法的优化改进来提高机器人路径规划的实时避障性、路径平滑性、规划有效性就成为了全局路径规划算法的核心研究内容.首先根据算法的智能程度,将移动机器人的全局路径规划算法分为传统全局路径规划算法和仿生智能全局路径规划算法,并深入阐述了实际应用更为广泛的多目标路径规划算法,然后介绍了当前每种算法的几种典型的优化改进方法,并对其优化改进后的算法的优缺点进行了分析总结,最后对全局路径算法的未来发展趋势进行了展望,指出全局路径规划算法将向优化已有常规算法路径规划的性能、多种算法优势融合、复杂环境中动态避障、适应多样化环境的地图表示方法这4方面发展. 相似文献
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The reuse of multiple cases to solve a single planning problem presents a promise of better utilization of past experience over single-reuse planning, which can lead to better planning performance. In this paper, we present the theory and implementation of CBPOP, and show how it addresses the multi-reuse planning problems. In particular, we present novel approaches to retrieval and refitting. We also explore the difficult issue of when to retrieve in multi-reuse scenarios, and we empirically compare the results of several solutions we propose. Results from our experiments show that the best ranking function for pure generative planning is not necessarily the best ranking function for multi-reuse planning. The surprising result in the reuse scenarios is that the single-goal case library performed better than larger case libraries consisting of solutions to multi-goal problems. 相似文献
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A survey on coverage path planning for robotics 总被引:2,自引:0,他引:2
Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works. 相似文献
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Kyoungrae Cho Munsang Kim Jae-Bok Song 《Journal of Intelligent and Robotic Systems》2003,36(4):371-387
A pick-and-place operation in a 3-dimensional environment is a basic operation for humans and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final poses of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving the regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information on kinematically feasible task space of the end-effector throughout the entire workspace. Then, using this table, the planning automatically determines a possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. With a redundant robot, it is shown experimentally that the presented method is complete in the entire workspace and can be implemented in real-time applications due to rapid regrasp planning time. The regrasp planner was combined with an existing path. 相似文献
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AbstractOver the last years, the planning community has formalised several models and approaches to multi-agent (MA) propositional planning. One of the main motivations in MA planning is that some or all agents have private knowledge that cannot be communicated to other agents during the planning process and the plan execution. We argue that the existing models of the multi-agent planning task do not maintain the agents’ privacy when a (strict) subset of the involved agents share confidential knowledge, or when the identity/existence of at least one agent is confidential. In this paper, first we propose a model of the MA-planning tasks that preserves the privacy of the involved agents when this happens. Then we investigate an algorithm based on best first search for our model that uses some new heuristics providing a trade-off between accuracy and agents’ privacy. Finally, an experimental study compares the effectiveness of using the proposed heuristics. 相似文献
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Successful strategic information systems planning 总被引:1,自引:0,他引:1
Anne D. O'Connor 《Information Systems Journal》1993,3(2):71-83
Abstract. Strategic information systems planning (SISP) is the process of ensuring alignment between business plans and objectives and information systems plans and objectives and/or the process of identifying information systems which will provide the organization with a competitive edge. This paper distinguishes SISP from both tactical and operational information systems planning, discusses the reasons for management concern with SISP, summarizes problems which may be encountered with the planning process and resultant plant implementation and then focuses on the issue of SISP success. Specifically, success is considered not only in terms of how it may be achieved but also in terms of how it can be defined (i.e. what constitutes SISP success) and how SISP success can be measured. Specific research questions addressing the measurement of SISP success are identified. 相似文献
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动作的执行在理想情况下是确定的,但现实生活中常常因为意外情况的发生而造成了不确定性,并产生不利影响.针对这种情况,建立了一种新的不确定规划模型,在不确定规划中增加了两个约束:1)所有动作的执行是可逆的;2)若一个状态在理想情况下不能达到目标,那么它不能企图在执行一个动作时发生意外而接近或达到目标.在该模型下设计了求解强循环规划的算法,首先只考虑所有动作的执行是在理想情况下发生的,这时可以将规划子图转换为规划子树并求出规划子树中每个状态的可达性;接下来考虑所有动作执行意外的情况,若动作被意外执行之后不能到达目标状态,则删除这个动作并更新规划子图和规划子树,最后通过遍历规划子图和规划子树求强循环规划解.考虑到有些意外的发生并不可预知,该算法能够在意外发生时只对部分失效的规划解进行更新而不需要重新求规划解.实验结果证明该算法能够快速地更新规划解且与问题的规模大小无关. 相似文献
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Ellen M. Hufnagel 《Information & Management》1987,12(5)
IS planning has changed considerably since its inception as an operational planning tool, expanding its scope to address key business objectives and forging a link with strategic business planning. A great deal of attention is currently focused on identifying and developing strategic information systems. Strategic planning has also become more broadly-focused over time, as simple forecasting techniques have been replaced by a variety of adaptive approaches that emphasize industry structure analysis and environmental dynamics. However, strategic planning has come under fire recently for failing to live up to its promises. As these two disciplines become more closely aligned,
planners can learn from the experiences of strategic planners and, hopefully, avoid a similar crisis of confidence. 相似文献
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The optimum motion planning in joint space (OMPJS) for robots, which generally consists of two subproblems, optimum path planning and optimum trajectory planning, was considered as a whole in the paper. A new method for optimum motion planning problem based on an improved genetic algorithm is proposed, which is more general, flexible and effective. This approach incorporates kinematics constraints, dynamics constraints, and control constraints of robotic manipulator. The simulation results for a two and a three degrees of freedom robots are presented and discussed. The simulations are based on genetic algorithm class library WGAClass 1.0 developed by us with Borland C++ 3.1. 相似文献
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