许维健, 郑文波, 朱机茂. 在障碍时变工作空间中机器人无碰撞平滑路径规划的一种算法研究[J]. 机器人, 1990, 12(5): 40-45.
引用本文: 许维健, 郑文波, 朱机茂. 在障碍时变工作空间中机器人无碰撞平滑路径规划的一种算法研究[J]. 机器人, 1990, 12(5): 40-45.
XU Weijian, ZHENG Wenbo, ZHU Jimao. A ALGORITHM OF SMOOTH COLLISION-FREE PATH PLANNING IN TIME-VARYING ENVIRONMENTS FOR ROBOTS[J]. ROBOT, 1990, 12(5): 40-45.
Citation: XU Weijian, ZHENG Wenbo, ZHU Jimao. A ALGORITHM OF SMOOTH COLLISION-FREE PATH PLANNING IN TIME-VARYING ENVIRONMENTS FOR ROBOTS[J]. ROBOT, 1990, 12(5): 40-45.

在障碍时变工作空间中机器人无碰撞平滑路径规划的一种算法研究

A ALGORITHM OF SMOOTH COLLISION-FREE PATH PLANNING IN TIME-VARYING ENVIRONMENTS FOR ROBOTS

  • 摘要: 本文应用在障碍时变工作空间中把固定障碍和时变障碍分解的思想.首先就固定障碍问题,为机器人规划一条无碰撞路径,然后通过规划机器人的速度来达到避开活动障碍的目的.本文接着提出在时间-路径空间中以忽略可动障碍时机器人的运动策略为基准策略,根据障碍约束和机器人速度或加速度约束,用有理二次函数来规划机器人避开可动障碍的运动策略.

     

    Abstract: This paper dissuses thc problem of robot path planning in the presence or static and moving obstacles. Thereare two sub-problems:(1) planning the path to avoid collision with static obstacles;(2) planning the velocity alongthe path to avoid collision with moving obstacles. We transform the second sub-problem to a 2-dimensional staticproblem in time-path space. By using rational parametric function, a collision-free trajectory for robots can beobtained.

     

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