摘要
通过建立多网笼三维立体电路地图的方式,将复杂的三维空间路径规划问题转化成为相对简单的电路求解问题,用不同的电阻阻值表征三维空间中障碍物、威胁源、气流或水流等对水下机器人或飞行机器人的不同运动影响程度,形成一种能够真实反映物理空间中实际情况的环境建模方式,使得路径规划的结果具有综合决策的效果.经仿真结果证明该方法节省系统计算时间,是一高效易行的路径规划方法.
The complexity in 3-D path planning can be overcome by means of making multi-cage 3-D circuit map. And the path planning is transformed into current computing and tracing in circuit map. The resistors in a circuit map are determined by obstacles, risk areas, carrent or swirI, which have interference on AUVs or flying robots. This enviroment modelling method could reflect the practical conditions in physics space effectively. The path planning result shows good performance in synthetic decision. Simulations prove its feasibility, effect and efficiency.
出处
《河北工业大学学报》
CAS
2006年第6期11-17,共7页
Journal of Hebei University of Technology
基金
河北省教育厅基金(2005355)
