摘要
本文提出了一种新的机器人平滑路径算法,综合地考虑折线生成和样条拟合问题,给障碍物加一个安全扰动,利用有理二次参数样条曲线生成一条切矢、曲率矢均连续,且安全的路径.在理论上和一些实际情形,该平滑路径在满足不与障碍物相交的前提下,与折线的平方误差次优。
This paper presents algorithm of planning, a smooth collision-free-path for manipulators and mobile robots. It considers synthetically the piecewise li- near path finding along with the spline approximating, .and adds a uniform' sa- fety margin'around the obstacle. By using the rational quadratic parametric func- tion. a smooth collision-free path is planned for the robots. in theory as well as in some practical cases. The approximation error is near-least.
出处
《福州大学学报(自然科学版)》
CAS
CSCD
1989年第2期8-13,共6页
Journal of Fuzhou University(Natural Science Edition)
关键词
机器人
无碰撞路径
二次规划
mobile Robot, collision-free, rational quadratic parametric spline