李杰, 韦庆, 常文森. 非时间参考的机器人路径规划与控制方法[J]. 机器人, 2001, 23(1): 11-14,19.
引用本文: 李杰, 韦庆, 常文森. 非时间参考的机器人路径规划与控制方法[J]. 机器人, 2001, 23(1): 11-14,19.
LI Jie, WEI Qing, CHANG Wen-sen. NON-TIME BASED TRAJECTORY PLANNING AND CONTROL FOR ROBOTS[J]. ROBOT, 2001, 23(1): 11-14,19.
Citation: LI Jie, WEI Qing, CHANG Wen-sen. NON-TIME BASED TRAJECTORY PLANNING AND CONTROL FOR ROBOTS[J]. ROBOT, 2001, 23(1): 11-14,19.

非时间参考的机器人路径规划与控制方法

NON-TIME BASED TRAJECTORY PLANNING AND CONTROL FOR ROBOTS

  • 摘要: 本文面向非结构化环境,针对传统的基于时间的规划方法的不足,提出了一种非时间参考的机器人路径规划方法;并根据该规划的特点,设计了相应的控制算法.在这种规划方法下,机器人遇到障碍时能自动停止运动,而当障碍物被清除后,又能沿以前的规划继续运动,避免了系统所受到的损害和任务的重规划,提高了系统处理不确定事件的能力.

     

    Abstract: This paper proposes the non-timed based robot trajectory planning method in order to overcome the disadvantage of the traditional time based planning in the non-structured environment, and designs the control law according to the speciality of this method. With this planning method, robot can automatically stop itself when it meets the obstacles; and when the obstacles were cleared away, the robot can go on its motion along the original planning. It avoids the damage of the system and the re-planning of the task, enhances the capability of the system to deal with the uncertainty events.

     

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