| 有限人参与下的排爆机器人半自主抓取 |
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| 引用本文： | 曾建军,杨汝清,张伟军.有限人参与下的排爆机器人半自主抓取[J].上海交通大学学报,2007,41(8):1238-1243. |
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| 作者姓名： | 曾建军 杨汝清 张伟军 |
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| 作者单位： | 上海交通大学,机器人研究所,上海,200240 |
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| 摘 要： | 提出了一种新的排爆机器人半自主爆炸物抓取方法.该方法包括机械臂、爆炸物和障碍环境的建模、C空间地图和路径规划.排爆机器人SUPER-PLUS在有限人参与下,利用手腕装载的激光测距传感器,扫描爆炸物周围的障碍环境,规划出一条无碰轨迹,实现爆炸物自主抓取.实验结果表明,该方法极大地提高了排爆操作的安全性和效率.
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| 关 键 词： | 排爆机器人 激光测距 环境建模 A*算法 避碰 自主抓取 |
| 文章编号： | 1006-2467（2007）08-1238-06 |
| 修稿时间： | 2006-10-28 |
Research of Semi-Automatic Bomb Fetching with Limited Support of Human in Explosive Ordnance Disposal Robot |
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| ZENG Jian-jun,YANG Ru-qing,ZHANG Wei-jun.Research of Semi-Automatic Bomb Fetching with Limited Support of Human in Explosive Ordnance Disposal Robot[J].Journal of Shanghai Jiaotong University,2007,41(8):1238-1243. |
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| Authors: | ZENG Jian-jun YANG Ru-qing ZHANG Wei-jun |
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| Institution: | Research Inst. of Robotics, Shanghai Jiaotong Univ. , Shanghai 200240, China |
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| Abstract: | A novel semiautomatic bomb fetching approach of explosive ordnance disposal(EOD) robot system was presented.The approach includes the model construction of manipulator,bomb and environment,C-space map and the path planning.With limited support of human,SUPER-PLUS scans the cluttered environment with a wrist-mounted laser distance sensor and plans the manipulator a collision free path to fetch the bomb.The experiments prove that it greatly increases the security and efficiency of EOD operation. |
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| Keywords: | explosive ordnance disposal robot(EODR) laser distance measuring environment modeling A~* algorithm obstacle avoidance semiautomatic fetching |
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