摘要
本文介绍一种类似位姿的全局路径表示法,以三角形自由空间网络为基础构造平面图,然后构造出解答树,通过搜索方法找出所有可通路径的全局路径规划方法及其仿真结果.还介绍由规划器给出允许位姿集描述的路径,与规划库中的规则相匹配,确定机器人的动作,最终到达目标,这样一种基于知识的路径控制器及其实验结果.
A representative method of the global path of a similar position and posture is presented.The con-structive plane figure is based on a network of triangle free space.And then path solving tree is construct-ed.Finally,all possible passing path is found with searching method.Their simulation results are given.Also,a path controller based on knowledge—base and its experimental results,are presented.Basic theo-ry of the path controller is that the action of mobile robot is determined by described path of the permissiveposition and posture set given from the path planner matching with rule of knowledge—base.
出处
《机器人》
EI
CSCD
北大核心
1992年第2期25-30,共6页
Robot
关键词
智能机器人
路径规划
机器人
mobile robot
robot control
path planning
planner
knowledge-base
solving tree
