摘要
研究用于真空气吸附壁面行走机器人的动态路径规划，提出全局范围内已知障碍避碰的膨胀法和局部区域随机障碍避撞的人造势场法．该机器人系统根据环境信息对路径实时生成与控制，增加系统的稳定性和对环境的适应性．同时针对壁面行走机器人的作业特点，又引入区域充满运行的概念及方法．
The purpose of this paper is to develop a dynamic path planning algorithm used for the mobile robot capable of moving on the vertical wall surface. This algorithm consists of two parts: obstacle expansion approach in the overall working terrain and artificial potentials approach in the local ranges. Based on this algorithm,a closed loop control between robot system and environment around robot system can be constructed to yield the optimal real time path. The idea that movement trajectories are filed fully in the whole working range is introduced in above approach in terms of the special property of this mobile robotic working.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1996年第5期88-94,共7页
Journal of Southeast University：Natural Science Edition
基金
国家863攻关课题.
