| 动态未知环境中移动机器人的滚动路径规划及安全性分析 |
| |
| 引用本文： | 张纯刚,席裕庚. 动态未知环境中移动机器人的滚动路径规划及安全性分析[J]. 控制理论与应用, 2003, 20(1): 37-44 |
| |
| 作者姓名： | 张纯刚 席裕庚 |
| |
| 作者单位： | 上海交通大学,自动化研究所,上海,200030 |
| |
| 基金项目： | 国家“973”计划(G1998030415); 国家“863”计划(2001AA422140); 国家自然科学基金(69934020)资助项目 |
| |
| 摘 要： | 借鉴预测控制滚动优化原理,研究了全局环境未知且存在动态障碍物情况下的机器人路径规划问题.提出的基于滚动窗口的移动机器人路径规划方法充分利用机器人实时测得的局部环境信息,以滚动方式进行在线规划,合理结合了优化与反馈,对动态环境具有良好的适应性.还对规划算法的安全性进行了分析.
|
| 关 键 词： | 机器人路径规划 滚动规划 子目标 安全性 可达性 |
| 文章编号： | 1000-8152(2003)01-0037-08 |
| 收稿时间： | 2001-06-15 |
| 修稿时间： | 2001-06-15 |
Rolling path planning and safety analysis of mobile robot in dynamic uncertain environment |
| |
| ZHANG Chun-gang,XI Yu-geng. Rolling path planning and safety analysis of mobile robot in dynamic uncertain environment[J]. Control Theory & Applications, 2003, 20(1): 37-44 |
| |
| Authors: | ZHANG Chun-gang XI Yu-geng |
| |
| Affiliation: | InstituteofAutomation,ShanghaiJiaotongUniversity,Shanghai 200030,China |
| |
| Abstract: | Based on the rolling optimization principle adopted inpredictive control,the robot path planning in a globally unknown environment with moving obstacles is studied .A new method of the path planning for a mobile robot is proposed. The method makes full use of the real-time local environmental information detected by the robot and the path planning is performed on-line in a rolling manner. Optimization and feedback are combined in the planning, which is suitable to dynamic uncertain environment. The safety of the planning algorithm is also analyzed. |
| |
| Keywords: | robot path planning rolling plan subgoal safety accessibility |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《控制理论与应用》浏览原始摘要信息 |
|
点击此处可从《控制理论与应用》下载全文 |
