摘要
该文对壁面移动机器人使用了人造势场法，实现局部区域内随机障碍避碰的路径规划．机器人系统根据环境信息，实时生成路径，增加了系统的稳定性和对环境的适应性．计算机动画仿真及其实际应用验证了该实时路径规划的可行性．
The purpose of this paper is to develop a realtime path planning algorithm used for the mobile robot capable of moving on the vertical wall surface. Artificial po- tential approach is used to avoid the random obstacles in the local range. Based on this algorithm, a closed-loop control between robot system and environment around robot system can be constructed to yield the optimal realtime path, so that the stability of robot system and its adaption to the environment are enhanced.
出处
《应用科学学报》
CAS
CSCD
1997年第3期310-314,共5页
Journal of Applied Sciences
