| 机器人无碰撞平滑路径规划 |
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| 引用本文： | 郑文波,朱机茂,许维健.机器人无碰撞平滑路径规划[J].福州大学学报(自然科学版),1989(2):8-14. |
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| 作者姓名： | 郑文波 朱机茂 许维健 |
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| 作者单位： | 福州大学计算机系
(郑文波,朱机茂),福州大学软件研究室(许维健) |
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| 摘 要： | 本文提出了一种新的机器人平滑路径算法,综合地考虑折线生成和样条拟合问题,给障碍物加一个安全扰动,利用有理二次参数样条曲线生成一条切矢、曲率矢均连续,且安全的路径．在理论上和一些实际情形,该平滑路径在满足不与障碍物相交的前提下,与折线的平方误差次优。
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| 关 键 词： | 机器人 无碰撞路径 有理二次参数样条 |
Shooth Collision-Free Path Planning for Manipulators and Mobile Robots |
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| Zheng Wenbo,Zhu Jimao.Shooth Collision-Free Path Planning for Manipulators and Mobile Robots[J].Journal of Fuzhou University(Natural Science Edition),1989(2):8-14. |
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| Authors: | Zheng Wenbo Zhu Jimao |
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| Institution: | Zheng Wenbo, Zhu Jimao (Department of Computer Science) Xu Weijian (Software Research Section) |
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| Abstract: | This paper presents algorithm of planning, a smooth collision-free-path for manipulators and mobile robots. It considers synthetically the piecewise li- near path finding along with the spline approximating, .and adds a uniform" sa- fety margin"around the obstacle. By using the rational quadratic parametric func- tion. a smooth collision-free path is planned for the robots. in theory as well as in some practical cases. The approximation error is near-least. |
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| Keywords: | mobile Robot collision-free rational quadratic parametric spline |
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