摘要
带拖车的移动机器人系统是一类复杂的多车体系统 ,其路径规划问题难以沿用单体移动机器人系统的规划方法 .本文通过分析这类系统运动时的路径特征 ,提出包络路径概念 ;并根据路径与车体约束的关系 ,给出包络路径的量化描述 ,从而把这类多车体系统的路径规划问题转化为单个车体的规划问题 ,本质地改变了带拖车移动机器人的运动规划 .
Tractor trailer mobile robot is a complicated system, which is composed of a tractor and multiple trailers. The path planning problem of the system of this kind can not be solved using the path planning algorithm for single body car like robot. This paper proposes the concept of band path and gives the computation method of the band path, which describes the characteristics of the path and the relationship between the path and restrictions. Based on those, an approach to the path planning for tractor trailer mobile robot is supposed.
出处
《机器人》
EI
CSCD
北大核心
2001年第4期334-337,共4页
Robot
基金
国家 8 63高科技发展计划项目
教育部高等学校骨干教师资助计划项目
关键词
移动机器人
路径规划
包络路径
拖车
tractor trailer mobile robot, path planning, band path
