机器人在时变环境中的运动规划

MOTION PLANNING IN TIME-VARYING ENVIRONMENTS FOR ROBOTS

时变环境中的避障运动规划是当今智能机器人领域中的一个重要研究课题.木文根据运动状况可分解描述为路径轨迹和速度函数的思想,提出了解决运动规划问题的二层机制.上层是路径规划.即就工作环境中的静态障碍,规划一条避障的最短距离路径;下层是速度规划,其任务是选择机器人沿着已规划路径运动的速度(加速度),以保证它避免与动态障碍物相撞。

The collision-free motion planning in time-varying environments is an important topic in current intelligent robot research. In this paper,we present a two-level scheme to solve this problem,decomposing a motion into path and velocity. The upper level is a path planner, which plans a shortest path avoiding collisions with static obstacles in environment. The lower level is a velocity planner, which chooses the velocity and/or acceleration along the path.