关于参数规划在自治智能移动式机器人中实际应用的探讨

A PROBING STUDY ON THE APPLICATION OF PARAMETRIC PROGRAMMING TO AUTONOMOUS INTELLIGENT MOBILE ROBOT

摘要: 机器人行走空间的复杂性决定了导航监控系统不仅为机器人提供行走路线，还要依据预先得到的先验数据与知识告诉机器人不同行走段的障碍分布、环境边界走向及约束程度，按照载体的几何形状，运动特性选择合适的速度、加速度，保证在安全的前提下最快完成行走．本文讨论了提取影响机器人当前行走的障碍、环境边界算法和不同行走速度段的划分与关键点抽取方法，讨论了各种速度段的分离、合并、高速行走段的插补和过短行走段的平滑滤除等等．

Abstract: This paper discusses the pick-up of obstacles which currently effect robot motion,environmental boundaryalgorithm,division of various speed segments and key-points abstraction,as well as separation and mergenceof different speed segments,high speed segments insertion,and overshort segments smoothing.