拱泥机器人避障运动过程数学模型研究

Study on Machematical Models of Move-in-mud Robot Moving Process of Keeping away from Obstacle

概述了拱泥机器人主要组成及工作原理。在无障碍运动过程分析的基础上,分析了拱泥机器人避障运动过程的基本规律,建立了避障运动过程的数学模型,可用于避障运动过程计算机仿真研究的仿真模型,也可以作为实际工作中路径规划的重要依据。

In the paper, the primary components and work functions of move-in-mud robot were summarized. On the base of analyzing unobstructed moving process of move-in-mud robot, the move-in-mudrobot basic moving process orderliness of keeping away from obstacle was analyzed, and its mathematical model was established. The model can be used as computer simulation study of moving process that keeps away from obstacles, and as important gist of route programming in practical work.