王翀. 运动机器人相对随机运动障碍物规避与控制[J]. 力学与实践, 2008, 30(2): 16-20. DOI: 10.6052/1000-0992-2007-171
引用本文: 王翀. 运动机器人相对随机运动障碍物规避与控制[J]. 力学与实践, 2008, 30(2): 16-20. DOI: 10.6052/1000-0992-2007-171
ROBOT MOTION PLAN AND CONTROL RELATIVE TO STOCHASTIC MOVING OBSTACLES[J]. MECHANICS IN ENGINEERING, 2008, 30(2): 16-20. DOI: 10.6052/1000-0992-2007-171
Citation: ROBOT MOTION PLAN AND CONTROL RELATIVE TO STOCHASTIC MOVING OBSTACLES[J]. MECHANICS IN ENGINEERING, 2008, 30(2): 16-20. DOI: 10.6052/1000-0992-2007-171

运动机器人相对随机运动障碍物规避与控制

ROBOT MOTION PLAN AND CONTROL RELATIVE TO STOCHASTIC MOVING OBSTACLES

  • 摘要: 介绍了运动机器人针对动态变化环境的运动控制与决策(如运动障碍物规避,运动目标跟踪等)问题. 分别从速度空间控制决策的角度分析阐述了运动决策的基本方法,以及各自的特点. 提出了关于随机运动障碍物与目标的避障问题以及解决思路,从而建立起基于概率分析的全局优化的速度避障决策方案. 通过仿真试验说明了方法的有效性,并与传统非概率分析的实时局部决策的方法进了比较与评价.

     

    Abstract: This article introduces the problem of robot motionplan and control strategy corresponding to the dynamic environment (forexample collision avoidance with moving obstacles and attacking goals etc). Theglobal optimal path/velocity space planning and their characteristics are analyzed. The article mainly deals with the planning problem aiming at stochastic motion obstacles or goals, constructs the corresponding solutions and gives comparisons with some traditional methods. The simulation resultsproved the effectiveness of the method.

     

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