摘要
针对路径规划以及碰撞检测这一研究的重点问题,提出了C 空间法、人工势力场法、遗传算法等。序列规划问题一般转化为旅行商问题来求解。在综合现有序列规划和路径规划方法的基础上,提出两种机器人运动规划算法:基于任意路径的运动规划算法和基于直线路径的运动规划算法,思路简单,能对各种机器人工程任务进行运动规划。
Path planning and collision examining are the focuses of researches, and many algorithms have been put forward, such as C-space method, potential field method and genetic method etc. The problem of sequence planning can be translated into Traveling Salesman Problem (TSP). On the basis of researches of the past, it puts forward two robot motion planning algorithms: robot motion planning algorithm based on arbitrary paths and robot motion planning algorithm based on straight line paths. Both of the algorithms are simple and can be used for all kinds of robot complicated tasks.
出处
《控制工程》
CSCD
2004年第3期280-284,共5页
Control Engineering of China
基金
江苏省"十五"攻关资助项目(BE20002031)
关键词
机器人
运动规划
序列规划
路径规划
碰撞检测
robot
motion planning
sequence planning
path planning
collision examining
