| 机器人无碰撞路径规划方法研究及实现 |
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| 引用本文： | 孟正大,王小忠. 机器人无碰撞路径规划方法研究及实现[J]. 华中科技大学学报(自然科学版), 2004, 0(Z1) |
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| 作者姓名： | 孟正大 王小忠 |
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| 作者单位： | 东南大学自动控制系 东南大学自动控制系 江苏南京 江苏南京 |
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| 基金项目： | 国家高技术研究发展计划资助项目 (2 0 0 3AA4 2 0 0 10 )，江苏省“十五”攻关资助项目 (BE2 0 0 2 0 3114 ) |
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| 摘 要： | 在分析现有路径规划和碰撞检测方法的基础上 ,提出了两种新的机器人路径规划方法 :中值检测算法和行进方向矢量优化法 .两种算法各有其特点 ,结合使用可取得更好的效果 ,通过基于三维图形的仿真实验证明了算法的有效性 .所开发的无碰撞路径规划及仿真软件已成功用于机器人无碰撞路径规划与仿真 .
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| 关 键 词： | 机器人 路径规划 碰撞检测 图形仿真 |
Research and implementation of robot path planning methods with obstacle avoidance |
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| Meng Zhengda Wang Xiaozhong Prof., Dept. of Automatic Control Engineering,Southeast University,Nanjing ,China.. Research and implementation of robot path planning methods with obstacle avoidance[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2004, 0(Z1) |
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| Authors: | Meng Zhengda Wang Xiaozhong Prof. Dept. of Automatic Control Engineering Southeast University Nanjing China. |
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| Affiliation: | Meng Zhengda Wang Xiaozhong Prof., Dept. of Automatic Control Engineering,Southeast University,Nanjing 210096,China. |
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| Abstract: | On the basis of analysis of current path planning methods and collision examining methods, two new robot path planning methods are put forward in this paper: the median examining method and advancing direction vector optimizing method. The both methods have own characteristics and combining the two methods in applications will acquire better effects. The validity of the methods has been approved by 3D graphics simulation. The software system for robot path planning with obstacle avoidance and simulation has been developed and applied in robot path planning with obstacle avoidance and simulation. |
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| Keywords: | robot path planning collision examining graphics simulation |
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