| 基于局部探测信息的机器人滚动路径规划 |
| |
| 引用本文： | 张纯刚, 席裕庚. 基于局部探测信息的机器人滚动路径规划. 自动化学报, 2003, 29(1): 38-44. |
| |
| 作者姓名： | 张纯刚 席裕庚 |
| |
| 作者单位： | 1.上海交通大学自动化研究所,上海 |
| |
| 基金项目： | SupportedbytheNational973Plan (G19980 30 415 ) ,bytheNational86 3Program (2 0 0 1AA42 2 140 )andbytheNationalNatu ralScienceFoundationofP .R .China (6 99340 2 0 ) |
| |
| 摘 要： | 用基于滚动窗口的路径规划方法研究了全局环境未知时的机器人路径规划问题.该法充分利用机器人实时测得的局部环境信息,以滚动方式进行在线规划,实现了优化与反馈的合理结合.文中分析了不同凸障碍环境下滚动路径规划子目标选择策略,并且还探讨了规划算法的可达性.
|
| 关 键 词： | 机器人路径规划 滚动规划 局部规划 子目标 可达性 |
| 收稿时间： | 2001-06-27 |
Robot Rolling Path Planning Based on Locally Detected Information |
| |
| ZHANG Chun-Gang, XI Yu-Geng. Robot Rolling Path Planning Based on Locally Detected Information. ACTA AUTOMATICA SINICA, 2003, 29(1): 38-44. |
| |
| Authors: | ZHANG Chun-Gang XI Yu-Geng |
| |
| Affiliation: | 1. Institute of Automation,Shanghai Jiaotong University,Shanghai |
| |
| Abstract: | Using the path planning method based on rolling windows, robot path planning in a globally unknown environment is studied. The method makes full use of real-time environmental information locally detected by the robot and the on-line planning is performed in a rolling style. Mechanisms of optimization and feedback are combined in a feasible way. The subgoal determination strategy of rolling path planning is analyzed according to various convex obstacle environment. And the accessibility of the planning algorithm is also discussed. |
| |
| Keywords: | Robot path planning rolling planning local planning subgoal accessibility |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《自动化学报》浏览原始摘要信息 |
|
点击此处可从《自动化学报》下载全文 |
