| 基于OpenGL的移动机械手路径规划仿真 |
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| 引用本文： | 李新春,赵冬斌,易建强.基于OpenGL的移动机械手路径规划仿真[J].系统仿真学报,2006,18(1):196-199. |
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| 作者姓名： | 李新春 赵冬斌 易建强 |
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| 作者单位： | 中国科学院自动化研究所,复杂系统与智能科学实验室,北京,100080 |
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| 基金项目： | 中国科学院资助项目;科技部国际合作重点项目 |
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| 摘 要： | 针对移动机械手的动态不均匀性及运动冗余性,参考人类完成任务时的行为,提出了一种分级协调路径规划法,以及一种动态加权的优化策略,对移动机械手的路径进行离线规划,在避障的前提下保证了移动机械手性能指标最优。在VC 下通过OpenGL进行了仿真,取得了令人满意的结果。
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| 关 键 词： | 移动机械手 路径规划 遗传算法 |
| 文章编号： | 1004-731X（2006）01-0196-04 |
| 收稿时间： | 2004-11-12 |
| 修稿时间： | 2005-11-03 |
Path Planning Simulation for Mobile Manipulators Based on OpenGL |
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| LI Xin-chun,ZHAO Dong-bin,YI Jian-qiang.Path Planning Simulation for Mobile Manipulators Based on OpenGL[J].Journal of System Simulation,2006,18(1):196-199. |
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| Authors: | LI Xin-chun ZHAO Dong-bin YI Jian-qiang |
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| Institution: | Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080,China |
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| Abstract: | Aiming at the dynamic nonhomogeneity and kinematic redundancy and making reference to the actions of human beings,a new hierarchical approach of coordinated path planning for mobile manipulators and a dynamic weighting strategy were proposed,which could avoid obstacles and get the best results of optimization.At last,simulation was made by OpenGL in VC and satisfactory results were got. |
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| Keywords: | OpenGL |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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