李宏超, 黄亚楼, 夏毅, 徐国华, 谭民. 带拖车的移动机器人包络路径分析与描述[J]. 机器人, 2001, 23(4): 334-337.
引用本文: 李宏超, 黄亚楼, 夏毅, 徐国华, 谭民. 带拖车的移动机器人包络路径分析与描述[J]. 机器人, 2001, 23(4): 334-337.
LI Hong-chao, HUANG Ya-lou, XIA Yi, XU Guo-hua, TAN Min. DESCRIPTION AND ANALYSIS OF BAND-PATH FOR TRACTOR-TRAILER MOBILE ROBOT SYSTEM[J]. ROBOT, 2001, 23(4): 334-337.
Citation: LI Hong-chao, HUANG Ya-lou, XIA Yi, XU Guo-hua, TAN Min. DESCRIPTION AND ANALYSIS OF BAND-PATH FOR TRACTOR-TRAILER MOBILE ROBOT SYSTEM[J]. ROBOT, 2001, 23(4): 334-337.

带拖车的移动机器人包络路径分析与描述

DESCRIPTION AND ANALYSIS OF BAND-PATH FOR TRACTOR-TRAILER MOBILE ROBOT SYSTEM

  • 摘要: 带拖车的移动机器人系统是一类复杂的多车体系统,其路径规划问题难以沿用单体移动机器人系统的规划方法.本文通过分析这类系统运动时的路径特征,提出包络路径概念;并根据路径与车体约束的关系,给出包络路径的量化描述,从而把这类多车体系统的路径规划问题转化为单个车体的规划问题,本质地改变了带拖车移动机器人的运动规划.

     

    Abstract: Tractor-trailer mobile robot is a complicated system, which is composed of a tractor and multiple trailers. The path planning problem of the system of this kind can not be solved using the path planning algorithm for single body car-like robot. This paper proposes the concept of band-path and gives the computation method of the band-path, which describes the characteristics of the path and the relationship between the path and restrictions. Based on those, an approach to the path planning for tractor-trailer mobile robot is supposed.

     

/

返回文章
返回