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应用科学学报 ›› 2005, Vol. 23 ›› Issue (4): 404-407.

• 论文 • 上一篇    下一篇

一种基于C-T空间数字势场的机器人避碰规划方法

王从庆, 赵长军   

  1. 南京航空航天大学自动化学院, 江苏南京 210016
  • 收稿日期:2004-04-30 修回日期:2004-11-11 出版日期:2005-07-31 发布日期:2005-07-31
  • 作者简介:王从庆(1960-),男,江苏南京人,副教授,博士,E-mail:cqwang@nuaa.edu.cn
  • 基金资助:
    江苏省应用基础研究课题(BJ98057)

An Obstacle Avoidance Planning Scheme for Robot Based on Digital Potential Field in C-T Space

WANG Cong-qing, ZHAO Chang-jun   

  1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2004-04-30 Revised:2004-11-11 Online:2005-07-31 Published:2005-07-31

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103

被引次数

2

摘要： 提出一种基于C-T(configuration-time)空间数字势场的机器人避碰路径规划方法,通过构造一种栅格化的CT空间数字势场,根据数字势场中的排斥势和吸引势,利用C-T空间离散路径点的插值方法,实现机器人对运动障碍物的避碰.通过一个2连杆机器人臂的避碰仿真实验研究,表明了该方法具有较高的计算效率,避免了一般避碰算法的大量C空间显式计算,能够适用于机器人的动态环境路径规划.

关键词: C-T空间, 动态障碍, 机器人, 数字势场, 路径规划

Abstract: In this paper, an obstacle avoidance scheme for robot using digital potential field in C-T configuration-time (C-T) space is presented.In terms of a grid digital potential filed with repulsion potential energy and attractive potential energy in the C-T space, collision avoidance for robot to the dynamic obstacle is implemented using interpolation of discrete path in the C-T space.Simulation shows that, compared to conventional methods, the scheme has higher computation efficiency, and reduces much explicit computation in C space.The scheme is applicable to avoidance path planning for robot under a dynamic environment.

Key words: C-T space, digital potential filed, dynamic obstacle, robot, path planning

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