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基于传感器的非完整移动机器人运动规划 被引量：4

Sensor-based motion planning for nonholonomic mobile robot
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摘要 针对非完整移动机器人在未知室内环境中提出了一种路径规划方法 ,通过利用传感器对周围环境的探测和实时处理传感器数据 ,以及所设计的目标寻找函数 ,可以有效地完成其运动规划 .该方法能够确保移动机器人在无障碍物区或障碍物对机器人不构成危险时加速前进 ,在障碍物区能够慢速绕过 ,从而使得移动机器人快速且安全地到达目标位置 ,仿真的结果证明了该方法的有效性 . The work presented a method of motion planning for nonholonomic robot working in unknown indoor environment. It can make the robot finish the motion planning by the scanning of the sensors to the environment, real-time coped with the information and the goal-seeking functions. The method can make the robot accelerate in motion in the field of non-obstacles or safety and turn slowly round the obstacles, so the robot can reach its goal quickly and safely. The results of simulation illustrated the effectiveness of the method.
作者 吴忻生 郭丙华 胡跃明
机构地区 华南理工大学自动化科学与工程学院
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2002年第6期945-948,共4页 Control Theory & Applications
基金 国家自然科学基金 (699740 15 ) 广东省自然科学基金 (990 5 83 ) 广东省教育厅"千百十工程"资助项目
关键词 传感器 非完整移动机器人 运动规划 人工智能 nonholonomic robot sensor motion planning
分类号 TP242.6 [自动化与计算机技术—检测技术与自动化装置]
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参考文献6

  • 1Latombe J C. Robot Motion Planning [M]. Boston: Kluwer Aca demic Publishers, 1991
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同被引文献27

  • 1朱庆保,张玉兰.基于栅格法的机器人路径规划蚁群算法[J].机器人,2005,27(2):132-136. 被引量：123
  • 2战晓磊,辛洪兵,徐正兴.基于虚拟现实技术的网络控制机器人系统研究[J].北京工商大学学报（自然科学版）,2007,25(5):25-28. 被引量：2
  • 3SZCZERBA R J, GALKOWSKI P, GLICKTE1N I S, et al. Robust algorithm for real-time route planning [J]. IEEE Transactions on Aerospace and Electronic Systems, 2000, 36(3): 869 - 878.
  • 4KLOETZER M, BELTA C. Automatic deployment of distributed teams of robots from temporal logic motion specifications [J]. IEEE Transactions on Robotics, 2010, 26(1): 48 - 61.
  • 5SMITH S L, TUMOVM, BELTA C, et al. Optimal path planning under temporal logic constraints [C]//2010 IEEE/RSJ InternationalConference on Intelligent Robots and Systems (IROS). Taipei: 1EEE, 2010:3288 - 3293.
  • 6DING X C, LAZAR M, BELTA C. Receding horizon temporal logic control for finite deterministic systems [C]//2012 American Control Conference (ACC). Montreal, QC: IEEE, 2012:715 - 720.
  • 7WONGPIROMSARN T, TOPCU U, MURRAY R M. Receding hori- zon temporal logic planning for dynamical systems [C] //Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. Shanghai: IEEE, 2009: 5997-6004.
  • 8KRESS-GAZIT H, FAINEKOS G E, PAPPAS G J. Temporal-logic- based reactive mission and motion planning [J]. IEEE Transactions on Robotics, 2009, 25(6): 1370 - 1381.
  • 9FAINEKOS G E, GIRARD A, KRESS-GAZITt H, et al. Tempo- ral logic motion planning for dynamic robots [J]. Automatica, 2009, 45(2): 343 - 352.
  • 10FAINEKOS G E, KRESS-GAZIT H, PAPPAS G J.Hybrid controllers for path planning: A temporal logic approach [C] //The 44th IEEE Conference on Decision and Control and 2005 European Control Conference. Seville, Spain: IEEE, 2005:4885 - 4890.

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控制理论与应用
2002年 第6期

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