| 徐望宝,陈雪波,赵杰.个体机器人局部路径规划的人工力矩方法[J].,2012,(3):418-425 |
| 个体机器人局部路径规划的人工力矩方法 |
| Artificial moment method for local path planning of single robot |
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| DOI：10.7511/dllgxb201203018 |
| 中文关键词: 机器人学 路径规划 运动控制 人工力矩 |
| 英文关键词: robotics path planning motion control artificial moment |
| 基金项目:国家自然科学基金资助项目(60874017);机器人技术与系统国家重点实验室(哈尔滨工业大学)开放基金资助项目(SKLRS-2011-MS-03). |
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| 中文摘要: |
| 针对个体机器人的局部路径规划问题,定义了最优路径代表点、危墙代表点等概念,以优化路径和避障．设计了吸引矩、排斥矩两种人工力矩函数,其中吸引矩常使机器人的基本运动方向线(PMDline)指向最优路径代表点而排斥矩则总使机器人的PMDline背向相应的危墙代表点．基于两种人工力矩,设计了机器人运动控制器．在机器人通向目标的路径被障碍阻断时,该控制器总使机器人沿其PMDline以最大步幅运动,所以无论环境多复杂,机器人也不会停止运动,即不会被陷住．还给出了最优路径代表点的求解算法、局部路径规划的一般步骤及一个仿真．仿真结果表明,给出的方法是可行且有效的． |
| 英文摘要: |
| For the local path planning of single robot, two new concepts, optimal way representative point and dangerous wall representative point, are defined for path optimization and obstacle-avoidance. A new attraction moment function to make robot′s principal motion direction line(PMDline) face to the present optimal way representative point in general and a new repulsion moment function to make robot′s PMDline away to the corresponding dangerous wall representative point are designed. Then, a motion controller is designed based on the two artificial moments. As the controller will make robot move along its PMDline with its longest step length when the line segment between robot and target is blocked by obstacles, robot will not be trapped even in complicated environments. The algorithm for optimal way representative points, the general steps for the path planning and a simulation are also given. The simulation results indicate that the proposed method is of feasibility and validity. |
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