| 一种末端任务给定的移动机械手动态路径规划方法 |
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| 引用本文： | 李新春,赵冬斌,易建强. 一种末端任务给定的移动机械手动态路径规划方法[J]. 控制与决策, 2007, 22(2): 184-188 |
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| 作者姓名： | 李新春 赵冬斌 易建强 |
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| 作者单位： | 中国科学院,自动化研究所,北京,100080;中国科学院,自动化研究所,北京,100080;中国科学院,自动化研究所,北京,100080 |
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| 基金项目： | 国家自然科学基金项目（60475030）;中科智能科学与技术联合实验室开放课题项目（JL0605）. |
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| 摘 要： | 移动机械手末端任务给定情况下的路径规划在喷绘、焊接等工作中有广泛的应用,但这方面的研究还比较少,尤其是在动态环境中.针对该情况提出一种动态规划方法,该方法包含预处理和动态规划两个阶段,使移动机械手在完成任务的前提下,能够有效地回避静态和动态障碍物.仿真结果证明了该方法的正确性.
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| 关 键 词： | 移动机械手 给定任务 动态规划 PRM RRT |
| 文章编号： | 1001-0920（2007）02-0184-05 |
| 收稿时间： | 2005-10-31 |
| 修稿时间： | 2006-03-27 |
A dynamic path planning approach for mobile manipulators along given end effector paths |
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| LI Xin-chun,ZHAO Dong-bin,YI Jian-qiang. A dynamic path planning approach for mobile manipulators along given end effector paths[J]. Control and Decision, 2007, 22(2): 184-188 |
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| Authors: | LI Xin-chun ZHAO Dong-bin YI Jian-qiang |
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| Abstract: | A novel approach of dynamic path planning for a mobile manipulator whose end-effector travels along a given path is presented.Such a task-consistency motion planning is widely used in practical applications such as painting and welding.But this problem in dynamic environments is rarely considered.A general method which consists of a preprocessing and a dynamic planning stage is proposed.The mobile manipulator can avoid not only static obstacles but also dynamic obstacles.The effectiveness of the proposed approach is illustrated through simulation experiments. |
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| Keywords: | Mobile manipulator Given task Dynamic path planning PRM RRT |
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