| 基于传感器的非完整移动机器人运动规划 |
| |
| 引用本文： | 吴忻生,郭丙华,胡跃明. 基于传感器的非完整移动机器人运动规划[J]. 控制理论与应用, 2002, 19(6): 945-948 |
| |
| 作者姓名： | 吴忻生 郭丙华 胡跃明 |
| |
| 作者单位： | 华南理工大学自动化科学与工程学院,广州,510640 |
| |
| 基金项目： | 国家自然科学基金(69974015); 广东省自然科学基金(990583); 广东省教育厅“千百十工程”资助项目. |
| |
| 摘 要： | 针对非完整移动机器人在未知室内环境中提出了一种路径规划方法, 通过利用传感器对周围环境的探测和实时处理传感器数据, 以及所设计的目标寻找函数, 可以有效地完成其运动规划. 该方法能够确保移动机器人在无障碍物区或障碍物对机器人不构成危险时加速前进, 在障碍物区能够慢速绕过, 从而使得移动机器人快速且安全地到达目标位置, 仿真的结果证明了该方法的有效性.
|
| 关 键 词： | 非完整移动机器人 传感器 运动规划 |
| 文章编号： | 1000-8152(2002)06-0945-04 |
| 收稿时间： | 2000-07-03 |
| 修稿时间： | 2000-07-03 |
Sensor-based motion planning for nonholonomic mobile robot |
| |
| WU Xin-sheng,GUO Bing-hua and HU Yue-ming. Sensor-based motion planning for nonholonomic mobile robot[J]. Control Theory & Applications, 2002, 19(6): 945-948 |
| |
| Authors: | WU Xin-sheng GUO Bing-hua HU Yue-ming |
| |
| Affiliation: | College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640,China;College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640,China;College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640,China |
| |
| Abstract: | The work presented a method of motion planning for nonholonomic robot working in unknown indoor environment. It can make the robot finish the motion planning by the scanning of the sensors to the environment, real-time coped with the information and the goal-seeking functions. The method can make the robot accelerate in motion in the field of non-obstacles or safety and turn slowly round the obstacles, so the robot can reach its goal quickly and safely. The results of simulation illustrated the effectiveness of the method. |
| |
| Keywords: | nonholonomic robot sensor motion planning |
| 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 |
