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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
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20172003681332
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
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.
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Document Type期刊论文
Corresponding Author祁若龙
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.
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