栾新, 朱铁一. 基于位姿空间栅格扩展及变维搜索的机器人运动规划新策略[J]. 机器人, 1999, 21(2): 122-127.
引用本文: 栾新, 朱铁一. 基于位姿空间栅格扩展及变维搜索的机器人运动规划新策略[J]. 机器人, 1999, 21(2): 122-127.
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LUAN Xin, ZHU Tieyi. NEW STRATEGY OF ROBOT MOTION PLANNING BASED ON GRID EXPANSION AND CHANGING DIMENSION SEARCH IN CONFIGURATION SPACE[J]. ROBOT, 1999, 21(2): 122-127.
Citation: LUAN Xin, ZHU Tieyi. NEW STRATEGY OF ROBOT MOTION PLANNING BASED ON GRID EXPANSION AND CHANGING DIMENSION SEARCH IN CONFIGURATION SPACE[J]. ROBOT, 1999, 21(2): 122-127.
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基于位姿空间栅格扩展及变维搜索的机器人运动规划新策略

NEW STRATEGY OF ROBOT MOTION PLANNING BASED ON GRID EXPANSION AND CHANGING DIMENSION SEARCH IN CONFIGURATION SPACE

    摘要
  • 摘要: 本文首先对机器人运动规划算法中的栅格扩展策略及次序规划法进行了探讨，并提出了相应的改进方法，在此基础上提出了一种新的机器人运动规划策略--基于位姿空间栅格扩展及变维空间搜索算法，该算法可有效地在复杂环境中找出无碰撞路径．

     

    Abstract: This paper discusses two strategies of robot motion planning: grid expansion and sequential search, and presents one new strategy of robot motion planning ——changing dimension algorithm in configuration space based on grid expansion. The new strategy can effectively find a collision free path in a complex environment.

     

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