摘要
针对油罐内检测机器人的实际环境——圆柱内表面，提出空间环境下的动态路径规划．应用人工势场法，在圆柱表面建立空间速度－位置相关场，并根据环境信息，对机器人运动进行动态路径规划、控制．计算机仿真结果表明。
An active path planning under the space environment is proposed, whose practical environment for measuring an oil tanks volumn is the internal surface of a cylinder. With the method of an artificial potential field, a space velocity position relative field is established. According to the environment information, the active path planning and control for the robots motion are made. The computer simulation results show that this method has good adaptability to the practical environment.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1997年第3期28-32,共5页
Journal of Shanghai Jiaotong University
基金
上海市科委发展基金
关键词
爬壁机器人
动态路径规划
油罐
容积检测
wall climbing robot
active path planning
space potential field method
