SIA OpenIR  > 空间自动化技术研究室
基于概率论的机器人高斯运动避障轨迹规划方法
Alternative TitleObstacle Avoidance Trajectory Planning for Gaussian Motion of Robot Based on Probability Theory
祁若龙; 周维佳; 刘金国; 张伟; 肖磊
Department空间自动化技术研究室
Source Publication机械工程学报
ISSN0577-6686
2017
Volume53Issue:5Pages:93-100
Indexed ByEI ; CSCD
EI Accession number20172003681332
CSCD IDCSCD:5964189
Contribution Rank1
Funding Organization中国科学院青年促进会 ; 国家自然科学基金(51505471) ; 国家科技重大专项(2010ZX04007-011)资助项目
Keyword轨迹规划 高斯运动 机器人 概率
Abstract当机器人的运动存在过程噪声,或其携带的闭环反馈传感器存在观测误差时,机器人的运动就会呈现出显著的非确定性。以自然界最为普遍的高斯分布描述系统运动状态的非确定性。用概率论的方法结合机器人本身的线性控制及卡尔曼滤波对机器人可行轨迹进行规划和先验概率的评估,从而得到机器人先验估计概率。采用线性控制方法和卡尔曼滤波相结合,进行高斯运动系统误差建模;然后用高斯运动模型对可行轨迹进行评估,能够计算出轨迹避开障碍和到达目标点的概率。为了进行最优轨迹规划,通过样条化方法计算出一组可行轨迹。理论上,这些轨迹本身都能够达到目标点,并避开障碍,但由于机器人行为的非确定性,机器人仍然存在碰撞和难以达到目标点的可能。通...
Other AbstractWhen the robot’s movement has process noise, or its closed-loop feedback sensors have specific observation errors, the robot will present significant uncertain movement. The non-deterministic movement state is described by the Gaussian distribution which is widespread in nature. The probability theory combing with the robot’s linear control and Kalman filter estimation is used to plan the trajectory and evaluate the Apriori probability distribution. Linear control method is used in combination with Kalman filter to establish error model of Gaussian motion system. Then, all feasible trajectories are assessed by the Gaussian motion model by calculating the probability of avoiding obstacles and arriving at the target. For the optimal trajectory planning, spline method is used to calculate a set of feasible path. Theoretically, all those trajectories can get the aim point and avoid the obstacles. But for the uncertainty of the robot’s behavior, the robot still has the probability of collision and miss the target. Through Gaussian movement prior probability estimates, the trajectory with the maximum probability value is the optimal one under the non-deterministic Gaussian motion state of the robot.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20379
Collection空间自动化技术研究室
Corresponding Author祁若龙
Affiliation1.中国科学院沈阳自动化研究所机器人国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
祁若龙,周维佳,刘金国,等. 基于概率论的机器人高斯运动避障轨迹规划方法[J]. 机械工程学报,2017,53(5):93-100.
APA 祁若龙,周维佳,刘金国,张伟,&肖磊.(2017).基于概率论的机器人高斯运动避障轨迹规划方法.机械工程学报,53(5),93-100.
MLA 祁若龙,et al."基于概率论的机器人高斯运动避障轨迹规划方法".机械工程学报 53.5(2017):93-100.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于概率论的机器人高斯运动避障轨迹规划方(932KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[祁若龙]'s Articles
[周维佳]'s Articles
[刘金国]'s Articles
Baidu academic
Similar articles in Baidu academic
[祁若龙]'s Articles
[周维佳]'s Articles
[刘金国]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[祁若龙]'s Articles
[周维佳]'s Articles
[刘金国]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于概率论的机器人高斯运动避障轨迹规划方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

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