SIA OpenIR  > 沈阳自动化所知识产出(2000年前)
动态补偿的水下机器人路径规划
Alternative TitleUNDERWATER ROBOT PATH PLANNING WITH DYNAMICAL COMPENSATION
孙茂相; 王艳红; 吴学曼; 封锡盛; 关玉林
Department中国科学院沈阳自动化研究所
Source Publication机器人
ISSN1002-0446
1993
Volume15Issue:2Pages:8-12
Contribution Rank1
Keyword路径规划 水下机器人 势场 反馈控制
Abstract本文研究水下机器人在障碍位置未知条件下,进行路径规划的方法,使自治水下机器人以最短的行程距离,避开障碍,达到预定目标.针对变化的、复杂的海洋情况,本文采用动态与静态相结合、规划与控制相结合的手段,应用人工势场理论,引入距离误差做动态反馈补偿,实现全局规划控制.本文提出的这种适于自治水下机器人导航的动态路径规划-控制方法,可以解决障碍环境参数已知、未知的路径规划问题.仿真结果表明该方法具有较强的稳定性和适应性.
Other AbstractA path planning method for underwater robot under condition of unknown obstacle position is proposed tomake the autonomous robot avoid obstacles and get to destination with the shortest covering distance.In re-sponse to the changing and complicate sea state,this paper implements general planning and control by intro-ducing distance error as dynamic feedback compensation.This method proposed is adaptable to path planningproblems with enviorment parameters either known or unknown.simulatibn results show it has good stabilityand adaptability.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/1658
Collection沈阳自动化所知识产出(2000年前)
Corresponding Author孙茂相
Affiliation1.沈阳工业大学电气工程系
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
孙茂相,王艳红,吴学曼,等. 动态补偿的水下机器人路径规划[J]. 机器人,1993,15(2):8-12.
APA 孙茂相,王艳红,吴学曼,封锡盛,&关玉林.(1993).动态补偿的水下机器人路径规划.机器人,15(2),8-12.
MLA 孙茂相,et al."动态补偿的水下机器人路径规划".机器人 15.2(1993):8-12.
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