| 非完整约束下的机器人运动规划算法 |
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| 引用本文： | 徐娜,陈雄,孔庆生,韩建达.非完整约束下的机器人运动规划算法[J].机器人,2011(6):666-672. |
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| 作者姓名： | 徐娜 陈雄 孔庆生 韩建达 |
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| 作者单位： | 复旦大学电子工程系;中国科学院沈阳自动化研究所; |
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| 基金项目： | 机器人学国家重点实验室基金资助项目(R2200703) |
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| 摘 要： | 由非完整约束定义提出一种改进RRT(快速搜索随机树)算法,解决受动力学约束的移动机器人运动规划问题.该算法将移动机器人的非完整约束条件与RRT搜索算法相结合.针对RRT算法在全局状态空间均匀随机搜索导致算法无谓耗费代价大的缺陷,引入目标偏向思想,并选择计算复杂度低的距离参数提高求解速度.通过几类典型的非完整约束下的机器...
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| 关 键 词： | 运动规划 非完整约束 快速搜索随机树(RRT) 目标偏向 动力学模型 |
Motion Planning for Robot with Nonholonomic Constraints |
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| XU Na,CHEN Xiong,KONG Qingsheng,HAN Ji,a.Motion Planning for Robot with Nonholonomic Constraints[J].Robot,2011(6):666-672. |
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| Authors: | XU Na CHEN Xiong KONG Qingsheng HAN Ji a |
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| Affiliation: | XU Na1,CHEN Xiong1,KONG Qingsheng1,HAN Jianda2 (1.Department of Electronic Engineering,Fudan University,Shanghai 200433,China,2.Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China) |
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| Abstract: | An improved RRT(rapidly-exploring random tree) algorithm is presented from the definition of nonholonomic constraints to solve the motion planning problem for mobile robots with dynamics constraints.The algorithm combines the nonholonomic constraints of mobile robot with RRTs.For RRTs,in order to reduce unnecessary costs caused by uniformly random searching in the global state space,the idea of goal bias is introduced and the distance parameter with low computational complexity is also selected to increase ... |
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| Keywords: | motion planning nonholonomic constraint RRT(rapidly-exploring random tree) goal bias dynamics model |
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