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| 基于传感器信息的水下机器人滚动路径规划 | |
| 引用本文： | 段群杰,张铭钧,吕超.基于传感器信息的水下机器人滚动路径规划[J].传感器与微系统,2006,25(9):40-42,45. |
| 作者姓名： | 段群杰 张铭钧 吕超 |
| 作者单位： | 1. 哈尔滨工程大学,机电学院,黑龙江,哈尔滨,150001;佳木斯大学,机械工程学院,黑龙江,佳木斯,154007 2. 哈尔滨工程大学,机电学院,黑龙江,哈尔滨,150001 3. 哈尔滨工业大学,市政环境工程学院,黑龙江,哈尔滨,150090 |
| 基金项目： | 高等学校博士学科点专项科研项目 |
| 摘 要： | 针对环境中障碍物为任意形状的水下机器人路径规划问题,提出了基于传感器信息的水下机器人滚动路径规划方法,该法充分利用传感器在每一采样时刻的规划窗口内实时探知的环境信息,用模糊控制方法给出机器人下一步的行走方法,探讨了凹形障碍区域中机器人的逃离方法,仿真结果表明了所提方法是有效的。 |
| 关 键 词： | 路径规划 滚动窗口 模糊控制 障碍物 |
| 文章编号： | 1000-9787（2006）09-0040-03 |
| 收稿时间： | 2006-05-15 |
| 修稿时间： | 2006-05-15 |
Rolling path planning for underwater robot based on sensor information |
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| DUAN Qun-jie,ZHANG Ming-jun,Lü Chao.Rolling path planning for underwater robot based on sensor information[J].Transducer and Microsystem Technology,2006,25(9):40-42,45. | |
| Authors: | DUAN Qun-jie ZHANG Ming-jun Lü Chao |
| Affiliation: | 1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China; 2. College of Mechanical Engineering Jiamusi University, Jiamusi 154007, China; 3. College of Municipal and Environmental Engineering, Harbin Institute of Technology, Harbin 150090, China |
| Abstract: | Path planning problem for underwater robot in an unknown environment with obstacles of arbitrary shape is studied. Based on sensor information, using wiling optimization method of predictive control, a real-time roiling path planning technique for underwater robot is presented. According to the real-time environment information which detected by the sensor,utilizing fuzzy control to decide the next step of the robot, the method of robot get away from concave obstacles is discussed. The simulation results show clearly the effectiveness of the proposed technique. |
| Keywords: | path planning rolling window fuzzy control obstacle |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |