SIA OpenIR  > 机器人学研究室
基于四叉树环境模型的轮式移动机器人平滑路径生成方法
Alternative TitleAN APPROACH TO PATH SMOOTHING FOR WHEELED MOBILE ROBOTS BASED ON QUADTREE ENVIRONMENT MODEL
李宏超; 黄亚楼; 阙嘉岚; 徐君; 孙凤池
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2001
Volume23Issue:5Pages:426-430
Indexed ByCSCD
CSCD IDCSCD:663972
Contribution Rank2
Funding Organization国家八六三高科技发展计划项目 ( 86 3-5 12 -980 5 -0 7); 教育部高等学校骨干教师资助计划项目
Keyword轮式移动机器人 四叉树环境模型 路径平滑
Abstract生成平滑的路径是轮式动移机器人路径规划的要求 .基于四叉树环境模型 ,本文提出了生成平滑路径的算法 .首先简单介绍了基于位置码的四叉树环境模型 ,然后详细分析了在该环境模型下路径搜索结果的组成特点 ,并提出了相应的平滑路径生成策略 .最后给出了路径生成的算法 ,并通过仿真实验验证了算法的正确性 .
Other AbstractPath smoothing is necessary for wheeled mobile robots due to existence of nonholonomic constraints A novel approach is proposed to create a smooth path based on quadtree environment model quadtree environment model is introduced in brief firstly,and then smoothing relative mechanism is put forward for eve ry case after analyzing the structure of path.At last, an algorithm is provided,and some simulation experiments are conducted to validate this approach
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15745
Collection机器人学研究室
Affiliation1.南开大学计算机科学与技术系
2.中国科学院机器人学开放研究实验室
Recommended Citation
GB/T 7714
李宏超,黄亚楼,阙嘉岚,等. 基于四叉树环境模型的轮式移动机器人平滑路径生成方法[J]. 机器人,2001,23(5):426-430.
APA 李宏超,黄亚楼,阙嘉岚,徐君,&孙凤池.(2001).基于四叉树环境模型的轮式移动机器人平滑路径生成方法.机器人,23(5),426-430.
MLA 李宏超,et al."基于四叉树环境模型的轮式移动机器人平滑路径生成方法".机器人 23.5(2001):426-430.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于四叉树环境模型的轮式移动机器人平滑路(202KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[李宏超]'s Articles
[黄亚楼]'s Articles
[阙嘉岚]'s Articles
Baidu academic
Similar articles in Baidu academic
[李宏超]'s Articles
[黄亚楼]'s Articles
[阙嘉岚]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[李宏超]'s Articles
[黄亚楼]'s Articles
[阙嘉岚]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于四叉树环境模型的轮式移动机器人平滑路径生成方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.