摘要
本文对移动机器人的实时导航和避障设计了基于栅格（Ｇｒｉｄｓ）的控制算法，用该算法控制清华大学计算机系研制的ＴＨＭＲ－Ⅱ移动机人能在未知的环境中，实时检测出障碍物，并实时规划出合理路径，稳定、平滑连续地向着目标行驶．
A real time navigation and obstacle avoidance method based on grids for fast mobile robot has been developed and implemented on our mobile robot (THMR Ⅱ). This method allows the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target in smooth, stabled and continuous motion. Experiment results from mobile robot THMR Ⅱ traversing obstacle courses demonstrate the effectiveness of the method in typical environment.
出处
《机器人》
EI
CSCD
北大核心
1996年第6期344-348,共5页
Robot
