English

应用科学学报 ›› 1997, Vol. 15 ›› Issue (3): 310-314.

• 论文 • 上一篇    下一篇

壁面移动机器人随机障碍避碰路径规划研究

谈士力1, 龚振邦1, 万德钧2   

  1. 1. 上海大学;
    2. 东南大学
  • 收稿日期:1995-11-09 修回日期:1996-08-09 出版日期:1997-09-30 发布日期:1997-09-30
  • 作者简介:谈力士:讲师,上海大学机电工程学院精密机械工程系,上海 201800

PATH PLANNING OF REALTIME OBSTACLE AVOIDANCE FOR MOBILE ROBOT CAPABLE OF MOVING ON THE VERTICAL WALL SURFACE

TAN SHILI1, GONG ZHENBANG1, WAN DEJUN2   

  1. 1. Mechantronic Engineering College, Shanghai University, Shanghai 201800;
    2. Southeastern University, Nanjing 210096
  • Received:1995-11-09 Revised:1996-08-09 Online:1997-09-30 Published:1997-09-30

PDF

62

被引次数

12

摘要： 该文对壁面移动机器人使用了人造势场法,实现局部区域内随机障碍避碰的路径规划.机器人系统根据环境信息,实时生成路径,增加了系统的稳定性和对环境的适应性.计算机动画仿真及其实际应用验证了该实时路径规划的可行性.

关键词: 路径规划, 壁面移动机器人, 智能机器人

Abstract: The purpose of this paper is to develop a realtime path planning algorithm used for the mobile robot capable of moving on the vertical wall surface. Artificial po-tential approach is used to avoid the random obstacles in the local range. Based on this algorithm, a closed-loop control between robot system and environment around robot system can be constructed to yield the optimal realtime path, so that the stability of robot system and its adaption to the environment are enhanced.

Key words: mobile robot on the wall surface, path planning, intelligent robot