| 机器人避碰撞路径生成中的跨绕问题研究 |
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| 引用本文： | 杜树新,唐建中.机器人避碰撞路径生成中的跨绕问题研究[J].西安交通大学学报,1993,27(4):101-106,110. |
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| 作者姓名： | 杜树新 唐建中 |
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| 作者单位： | 西安交通大学人工智能与机器人研究所
(杜树新)，西安交通大学机械工程系
(唐建中)，西安交通大学人工智能与机器人研究所(杨公仆) |
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| 摘 要： | 随着机器人控制智能化程度的提高,避碰撞路径生成显得非常重要.可视图法可有效地求解二维问题。但无法求解三维问题.文中将三维避碰撞最短路径问题分解成跨越和绕行两个基本问题,推导了用于求解这些问题的一组定理和公式,由于采用了递推公式及解非线性方程组,使得算法较为简单.
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| 关 键 词： | 机器人 避碰 障碍 跨绕 |
STUDY ON COLLISION-FREE PATH GENERATION FOR ROBOT ARMS |
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| Du Shuxin Yang Gongpu Tang Jianzhong.STUDY ON COLLISION-FREE PATH GENERATION FOR ROBOT ARMS[J].Journal of Xi'an Jiaotong University,1993,27(4):101-106,110. |
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| Authors: | Du Shuxin Yang Gongpu Tang Jianzhong |
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| Institution: | Du Shuxin Yang Gongpu Tang Jianzhong (Institute of Artificial Intelligence and Robotics) (Department of Mechanical Engineering) |
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| Abstract: | With the use of A. I. in robot control, it is very important to generate a collision-free path for robot arms. Visibility graph method, which can successfully solve the collision free path generation in 2D environment with polygonal obstacles, is difficult to solve the case of 3D due to its heavy computation. In this paper, the problem of generating the shortst path in 3D is divided into two subproblems: go-over-obstacle (GOO) and go-round-obstacle (GRO), and some lemmas and formulas for solving these subproblems are given. Owing to the use of recursive formula and solving nonlinear equations, the search algorithm is simple. |
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| Keywords: | robots collision preveniation obstruction |
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