| 用专家系统方法寻找机器人无碰撞路径 |
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| 引用本文： | 蔡自兴.用专家系统方法寻找机器人无碰撞路径[J].中南大学学报(自然科学版),1988(2). |
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| 作者姓名： | 蔡自兴 |
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| 作者单位： | 中国矿冶学院自动控制工程系 |
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| 摘 要： | 本文研究把基于规则的专家系统用于机器人无碰撞路径规划系统。系统的世界模型是以知识表示的,并与规则一起存储入知识库。此专家规划系统能够找出一条无碰撞路径,或给出物体阻塞区段的信息。文中所举模拟实例,说明不同物体如何通过不同通道以寻找无碰撞路径。模拟结果所得序列,为机器人运动的决策、机器人低层程序的编制和工艺参数的修正,提供了重要依据。
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| 关 键 词： | 机器人 轨迹 规划 碰撞 通道 决策规划 知识 数据库/专家系统 知识库 |
USING EXPERT SYSTEM TO FIND ROBOTIC PATH WITH COLLISION AVOIDANCE |
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| Cai Zixing.USING EXPERT SYSTEM TO FIND ROBOTIC PATH WITH COLLISION AVOIDANCE[J].Journal of Central South University:Science and Technology,1988(2). |
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| Authors: | Cai Zixing |
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| Institution: | Cai Zixing Department of Automatic Control Engineering |
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| Abstract: | A rule-based expert system has been developed and used to a robotic planning
system with collision-avoidance.The world model is represented as the
knowledge data and stored in the knowledge base with rules.The expert system can find
a collision-avoidance path.Otherwise,it shows the collision section in which the moved
object is bloked.Several examples for the different objects to pass through the
different channels and to find a collision-avoidance path have been tested.The simula-
ting results of the planner give out the planning sequence or blocked section(s).The
output information is useful for making decision of the robot motion and modify-
ing the technological parameters of the world. |
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| Keywords: | robots path planning collision avoidancee channels decision rules knowledge data libraries/expert system knowledge base |
| 本文献已被 CNKI 等数据库收录！ |
