移动机器人可拓控制器的设计

Design of Extension Controller for Mobile Robot

路径规划技术是移动机器人研究领域的关键技术之一,是移动机器人完成任务的安全保障。针对在环境障碍物信息未知的情况下移动机器人的路径规划问题,将可拓学理论与机器人路径规划结合,建立了机器人物元模型,分析了其可拓性在不同的环境下的应用,并结合机器人全局与局部路径规划方法的特点,设计了基于可拓控制的路径规划控制器,仿真结果证明了该方法的可靠性和有效性。

Path planning is one of the most important technique in the field of mobile robot. It is the safe guarantee that makes the mobile robot complete the mission. On the base of the combination between extension theory and robotic path planning, a robotic matter-element is modeled. Then its extensibility is applied in different situations. Considering characteristics of robotic global path planning and local path planning, a path planning controller based on extension control is designed in this article. The sim...