摘要
针对环境中障碍物为任意形状的水下机器人路径规划问题,提出了基于传感器信息的水下机器人滚动路径规划方法,该法充分利用传感器在每一采样时刻的规划窗口内实时探知的环境信息,用模糊控制方法给出机器人下一步的行走方法,探讨了凹形障碍区域中机器人的逃离方法,仿真结果表明了所提方法是有效的。
Path planning problem for underwater robot in an unknown environment with obstacles of arbitrary shape is studied. Based on sensor information, using wiling optimization method of predictive control, a real-time roiling path planning technique for underwater robot is presented. According to the real-time environment information which detected by the sensor,utilizing fuzzy control to decide the next step of the robot, the method of robot get away from concave obstacles is discussed. The simulation results show clearly the effectiveness of the proposed technique.
出处
《传感器与微系统》
CSCD
北大核心
2006年第9期40-42,45,共4页
Transducer and Microsystem Technologies
基金
教育部博士点专项科研基金项目(20020217005)
