金小平, 何克忠, 袁曾任. 移动机器人的动态路径规划及控制[J]. 机器人, 1990, 12(6): 10-17.
引用本文: 金小平, 何克忠, 袁曾任. 移动机器人的动态路径规划及控制[J]. 机器人, 1990, 12(6): 10-17.
JIN Xiaoping, HE Kezhong, YUAN Zengren. DYNAMIC PATH PLANNING AND CONTROL FOR MOBILE ROBOT[J]. ROBOT, 1990, 12(6): 10-17.
Citation: JIN Xiaoping, HE Kezhong, YUAN Zengren. DYNAMIC PATH PLANNING AND CONTROL FOR MOBILE ROBOT[J]. ROBOT, 1990, 12(6): 10-17.

移动机器人的动态路径规划及控制

DYNAMIC PATH PLANNING AND CONTROL FOR MOBILE ROBOT

  • 摘要: 本文阐述了两类机器人的导航方法:第一类方法是,先生成整个路径,然后进行路径跟踪控制;第二类方法是所谓的势场方法,即利用人工势场直接进行运动控制.在此基础上,我们提出了用于移动机器人系统导航的动态路径规划-控制方法.系统根据环境信息对路径进行动态的生成与控制,从而与实际环境实现了闭环,增加了对系统的稳定性和对环境的适应能力.

     

    Abstract: An important problem of mobile robots is to determine an obstacle avoidance control which transfers the system along a collision-free path among obstacles in environment. Two kinds of method are used to solve the problem. One is to track an already planned path which is created by high-level path planning system, the other is so called feed-back path control. It makes use of an abstract force in artificial potential field to control robot motion.According to the second method, we present a dynamic path planning and control method. It is suitable to navigate mobile robots in real time.The stability of the system and the adaptability are increased.

     

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