SIA OpenIR  > 沈阳自动化所知识产出(2000年前)
基于实时障碍物预测的机器人运动规划
Alternative TitleMOTION PLANNING FOR MOBILE ROBOT BASED ON REAL TIME OBSTACLE PREDICTION
董立志; 孙茂相; 朱枫; 董再励; 尹朝万
Department中国科学院沈阳自动化研究所
Source Publication机器人
ISSN1002-0446
2000
Volume22Issue:1Pages:12-16
Indexed ByEI ; CSCD
EI Accession number2000045125289
CSCD IDCSCD:663803
Contribution Rank1
Keyword移动机器人 人工势场 规划 预测
Abstract本文给出了移动机器人的虚力导航和运动规划系统.这种方法结合最小方差估计算法(LM SE)能有效地对机器人进行实时导航和避撞.在预测过程中,根据导航的不同阶段和预测误差的变化情况,采用Fuzzy 规则动态地调整误差函数中的权重,使预测过程尽可能准确.导航算法的基本思想是首先通过预测算法来获得移动机器人的运动信息,然后虚力系统根据预测信息决定机器人的未来运动,仿真结果表明该方法实时性好,能准确躲避障碍物并且到达目标点
Other AbstractIn this paper we present a virtual force guidance system for motion planning .This method is developed to work with real  time least mean square error estimation algorithm (LMSE) and can effectivelynavigate the robot and avoid the collision with obstacle.We adjust the weight dynamically according to the prediction error and different navigation sessons,so that the prediction is as accurate as possible.The basic idea is to acquire the motion information of the robot and to enable virtual force guidance system to determine the future motion according to the estimation.The VFG system assures that the goal attracts the robot and obstacles repulse it, the resultant force determines the motion.Simulation results are presented to show fine real  time property ,avoid the obstacle effectively and arrive at the goal.
Language中文
Citation statistics
Cited Times:6[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/1010
Collection沈阳自动化所知识产出(2000年前)
Corresponding Author董立志
Affiliation1.沈阳工业大学信息科学与工程学院
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
董立志,孙茂相,朱枫,等. 基于实时障碍物预测的机器人运动规划[J]. 机器人,2000,22(1):12-16.
APA 董立志,孙茂相,朱枫,董再励,&尹朝万.(2000).基于实时障碍物预测的机器人运动规划.机器人,22(1),12-16.
MLA 董立志,et al."基于实时障碍物预测的机器人运动规划".机器人 22.1(2000):12-16.
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