| 基于模糊规则的深海底作业机器车不等分状态时间轨线规划 |
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| 引用本文： | 陈峰,刘明,韩晓英.基于模糊规则的深海底作业机器车不等分状态时间轨线规划[J].暨南大学学报,2010,31(1). |
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| 作者姓名： | 陈峰 刘明 韩晓英 |
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| 作者单位： | 1. 暨南大学信息技术研究所,广东,广州,510075
2. 广州大学实验中心,广东,广州,510006 |
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| 基金项目： | 国家自然科学基金项目(60505018);;广东省自然科学基金项目(8451063201000361);;国际海底区域研究开发“十五”项目(DY105030206) |
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| 摘 要： | 针对深海底自行走履带作业机器车,给出了一种新的基于模糊规则的不等分状态时间轨线规划方案.为适应深海底环境的不确定性,采用基于模糊规则的不等分状态时间轨线规划改进等分贝塞尔曲线运动规划,控制机器车按照既定路线行走.在不平整地面的试验结果验证了算法的有效性.
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| 关 键 词： | 模糊规则 深海底作业机器车 不等分状态时间轨线规划 |
Deep seabed robot vehicle non-uniform trajectory planning based on fuzzy rule |
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| CHEN Feng,LIU Ming,HAN Xiao-ying.Deep seabed robot vehicle non-uniform trajectory planning based on fuzzy rule[J].Journal of Jinan University(Natural Science & Medicine Edition),2010,31(1). |
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| Authors: | CHEN Feng LIU Ming HAN Xiao-ying |
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| Institution: | 1.Institute of Information Technology;Jinan University;Guangzhou;510075;China;2.Experiment Center of Guangzhou University;510006;China |
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| Abstract: | A non-uniform trajectory planning based on fuzzy rule for deep seabed mining robot vehicle is presented.To adapt the uncertainty of deep seabed environment,a non-uniform trajectory planning based on fuzzy rule is used to improve usual Bessel curve trajectory planning.A experiment result on non-smooth ground verified our algorithm. |
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| Keywords: | fuzzy rule deep seabed robot vehicle non-uniform trajectory planning |
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