| 基于规则的移动机器人实时运动规划 |
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| 引用本文： | 孙茂相,程平,王艳红,尹朝万,袁曾任. 基于规则的移动机器人实时运动规划[J]. 控制与决策, 1997, 0(4) |
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| 作者姓名： | 孙茂相 程平 王艳红 尹朝万 袁曾任 |
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| 作者单位： | 沈阳工业大学电气工程系!110023(孙茂相，程平，王艳红)，中科院沈阳自动化研究所(尹朝万)，清华大学(袁曾任) |
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| 基金项目： | 清华大学智能技术与系统国家重点实验室，中科院机器人学开放研究实验室资助课题 |
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| 摘 要： | 研究移动机器人在动态环境中的导航与避障问题。为提高规划的实时性,提出了基于规则的规划方法,将多移动障碍环境机器人的运动规划分解为相对简单的单移动障碍运动规划,利用最优控制来实现单障碍的最优避障,并用智能搜索方法解决了移动机器人在多移动障碍环境中的实时运动规划问题。仿真实例表明了该方法的有效性。
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| 关 键 词： | 移动机器人 运动规划 规则 最优控制 |
Rule -based Real -time Motion Planning for Mobile Robots |
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| Sun Maoxiang,Cheng Ping,Wang Yanhong. Rule -based Real -time Motion Planning for Mobile Robots[J]. Control and Decision, 1997, 0(4) |
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| Authors: | Sun Maoxiang Cheng Ping Wang Yanhong |
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| Abstract: | The problem on navigation and collision avoidance for autonomous mobile robots in a dynamic en-vironment is studied. A new control scheme based on rule is presented to solve the problem. First, the scheme decomposing multiple moving obstacles along global path into a single obstacle on a local path is pro-posed. Then collision avoidance for a single obstacle is solved by means of optimal control strategy . In addion to collision avoidance,the proposed scheme is concerned with performance in terms of time consistency with norminal plan. The simulation results based on the scheme are presented to demonstrate its efficiency. |
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| Keywords: | mobile robot motion planning rule optimal control |
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