袁曾任, 姜焕东. 智能移动式机器人的-种全局路径规划方法和基于知识的路径控制器[J]. 机器人, 1992, 14(2): 25-30.
引用本文: 袁曾任, 姜焕东. 智能移动式机器人的-种全局路径规划方法和基于知识的路径控制器[J]. 机器人, 1992, 14(2): 25-30.
YUAN Zengren, JIANG Hu. A GLOBAL PATH PLANNING METHOD AND A KNOWLEDGE-BASED PATH CONTROLLER FOR A MOBILE ROBOT[J]. ROBOT, 1992, 14(2): 25-30.
Citation: YUAN Zengren, JIANG Hu. A GLOBAL PATH PLANNING METHOD AND A KNOWLEDGE-BASED PATH CONTROLLER FOR A MOBILE ROBOT[J]. ROBOT, 1992, 14(2): 25-30.

智能移动式机器人的-种全局路径规划方法和基于知识的路径控制器

A GLOBAL PATH PLANNING METHOD AND A KNOWLEDGE-BASED PATH CONTROLLER FOR A MOBILE ROBOT

  • 摘要: 本文介绍-种类似位姿的全局路径表示法,以三角形自由空间网络为基础构造平面图,然后构造出解答树,通过搜索方法找出所有可通路径的全局路径规划方法及其仿真结果.还介绍由规划器给出允许位姿集描述的路径,与规划库中的规则相匹配,确定机器人的动作,最终到达目标,这样-种基于知识的路径控制器及其实验结果.

     

    Abstract: A representative method of the global path of a similar position and posture is presented.The constructive plane figure is based on a network of triangle free space.And then path solving tree is constructed.Finally,all possible passing path is found with searching method.Their simulation results are given.Also,a path controller based on knowledge-base and its experimental results,are presented.Basic theory of the path controller is that the action of mobile robot is determined by described path of the permissiveposition and posture set given from the path planner matching with rule of knowledge-base.

     

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