机器人避碰规划综述

A Survey on Robotics Collision Avoidance Planning

避碰规划是机器人控制技术研究中的一个重要问题,目前的研究主要可分为两大类:全局方法和局部方法,全局方法一般指Ｃ空间方法,局部方法一般指人工势场法。本文综述了近二十年有关这方面研究的一些较有影响的思想和方法(主要针对关节式机械臂避碰规划)。

Collision avoidance planning is a critical problem studying robot control technique, and can be divided into two broad classes: global method and local method. The global method in general refers to configuration space method, and the local method refers to artificial potential field method. This paper surveys some more representative ideas and strategies with respected to collision avoidance planning in recent twenty years, mainly involved to collision avoidance planning of articulated manipulator.