摘要
提出了一种新的排爆机器人半自主爆炸物抓取方法.该方法包括机械臂、爆炸物和障碍环境的建模、C空间地图和路径规划.排爆机器人SUPER-PLUS在有限人参与下,利用手腕装载的激光测距传感器,扫描爆炸物周围的障碍环境,规划出一条无碰轨迹,实现爆炸物自主抓取.实验结果表明,该方法极大地提高了排爆操作的安全性和效率.
A novel semiautomatic bomb fetching approach of explosive ordnance disposal （EOD） robot system was presented. The approach includes the model construction of manipulator, bomb and environment, C-space map and the path planning. With limited support of human, SUPER-PLUS scans the cluttered environment with a wrist-mounted laser distance sensor and plans the manipulator a collision free path to fetch the bomb. The experiments prove that it greatly increases the security and efficiency of EOD opera- tion.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第8期1238-1243,共6页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(60575056)
关键词
排爆机器人
激光测距
环境建模
A＊算法
避碰
自主抓取
explosive ordnance disposal robot（EODR）
laser distance measuring
environment modeling
A＊ algorithm
obstacle avoidance
semiautomatic fetching
