| 基于可视切线图的新型煤矿救援机器人路径规划 |
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| 引用本文： | 刘罡,刘玉斌,赵杰,朱磊. 基于可视切线图的新型煤矿救援机器人路径规划[J]. 吉林大学学报(工学版), 2011, 0(4): 1107-1112 |
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| 作者姓名： | 刘罡 刘玉斌 赵杰 朱磊 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室; |
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| 基金项目： | “863”国家高技术研究发展计划项目(2007AA041501) |
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| 摘 要： | 针对未知环境建模问题阐述了可视切线图的概念,提出了一种未知环境下基于可视切线图的新型煤矿救援机器人路径规划方法,并采用"方向偏差最小"启发式策略搜索全局目标指导下的局部最优路径。仿真分析证明本文路径规划方法是可行的,并且具有较好的环境适应能力,可以满足新型煤矿救援机器人在未知环境下的运动要求。
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| 关 键 词： | 自动控制技术 路径规划 可视切线图 煤矿救援机器人 履带机器人 |
Path planning for a new mine rescue robot base on visual tangent graphs |
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| LIU Gang,LIU Yu-bin,ZHAO Jie,ZHU Lei. Path planning for a new mine rescue robot base on visual tangent graphs[J]. Journal of Jilin University:Eng and Technol Ed, 2011, 0(4): 1107-1112 |
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| Authors: | LIU Gang LIU Yu-bin ZHAO Jie ZHU Lei |
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| Affiliation: | LIU Gang,LIU Yu-bin,ZHAO Jie,ZHU Lei(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) |
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| Abstract: | A new mine rescue robot is designed in order to enhance the rescue capacity of mine rescue robot.A visual tangent graph concept is discussed for modeling unknown environment.A path planning method in unknown environment is proposed for the new mine rescue robot based on the visual tangent graph.A local optimal path guided by the global goal is searched using the least direction deviation heuristic functions.The simulation results demonstrate that the path planning method is feasible with better environment ... |
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| Keywords: | automatic control technology path planning visual tangent graph mine rescue robot tracked robot |
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