| 未知环境下基于传感器的救援机器人路径规划 |
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| 引用本文： | 刘罡,刘玉斌,赵杰. 未知环境下基于传感器的救援机器人路径规划[J]. 煤矿机械, 2011, 32(1): 52-55 |
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| 作者姓名： | 刘罡 刘玉斌 赵杰 |
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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,哈尔滨,150080 |
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| 基金项目： | 国家863计划资助项目(2007AA041501) |
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| 摘 要： | 研究了未知环境下救援机器人的路径规划问题,提出了一种新的基于传感器的路径规划方法。该方法所规划出来的路径是全局指导下的局部最优路径,传感器的探测距离越远,规划的结果越接近全局最优解。仿真分析证明了该方法是可行的,并且规划时间短,具有较好的实时性和环境适应性。
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| 关 键 词： | 救援机器人 路径规划 局部路径规划 基于传感器规划 未知环境 |
Sensor-Based Path Planning for Rescue Robot in Unknown Environment |
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| LIU Gang,LIU Yu-bin,ZHAO Jie. Sensor-Based Path Planning for Rescue Robot in Unknown Environment[J]. Coal Mine Machinery, 2011, 32(1): 52-55 |
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| Authors: | LIU Gang LIU Yu-bin ZHAO Jie |
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| Affiliation: | LIU Gang,LIU Yu-bin,ZHAO Jie(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | The path planning of a rescue robot in unkonwn environment is studied.A new sensor-based path planning method is proposed.The path planned by this method is the local best path under the direction of global goal.Sensor's probing range is farther,the result of planning closer the global optimal solution.The simulation analysis indicates this method is feasible with short planning time,better realtime character and environment adaptability. |
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| Keywords: | rescue robot path planning local path planning sensor-based planning unknown environment |
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