机器人三维空间无碰撞路径规划

ROBOT COLLISION-FREE PATH PLANNING IN 3-D SPACE

摘要: 本文介绍了机器人操作手在三维空间中的一个路径规划系统．它通过对三维环境障碍物进行两次投影，从而把复杂的三维规划问题简化为在二继投影面上进行规划．并根据机器人的几种典型姿态，设计了一种路径搜索算法，使得系统以局域搜索的代价，得到全局较优的规划路径．系统在MicroVAXⅡ上运行，达到了实时速度．
- 机器人 /
- 规划 /
- 投影 /
- 无碰撞路径 /
- 搜索
Abstract: A path planning system of manipulators in 3-D space is described. After projecting each 3-D obsta-cle twice, the problem of 3-D planning is converted to a 2-D one in projection planes. According to sever-al typical poses of the manipulator, a special search algorithm is designed, which can find a better overallpath using a local search approach. This planning system is realized in Micro VAX Ⅱ in real time.
- robot /
- plan /
- projection /
- collision-free path /
- search