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投稿时间:2018-04-13
投稿时间:2018-04-13
中文摘要: 清洁机器人的路径规划,可使机器人依照设计路线行走,做到真正的全自动化。采用迂回式路径规划作为全覆盖路径的基础路径,建立了能耗分析方法以确定清洁机器人的行走方向。该规划方式几乎能达到全程覆盖率。又提出了从单个障碍物到多个障碍物的避障路径规划的具体实施步骤。试验模拟表明,该方法有效。
Abstract:The robot path planning can enable robot to walk along the designed requirements which can achieve real automation.The obstacle avoidance path planning of cleaning robot is studied,with focus on the path planning based on complete coverage.The path planning is the basic path of the full coverage path,and the coverage can reach all space.The energy analysis is conducted to determine the walking direction of cleaning robot.Then the detail steps of obstacle avoidance from single to multi-obstacle are proposed.The results show the effectiveness of the proposal method.
文章编号:20183012 中图分类号:TP242 文献标志码:
基金项目:国家自然科学基金(61502297);上海高校青年教师培养资助计划(ZZsdl15074);上海市教育委员会2015年产学研项目。
引用文本:
王道累,胡松,朱嘉伟.清洁机器人避障系统的路径规划算法研究[J].上海电力大学学报,2018,34(3):264-267.
WANG Daolei,HU Song,ZHU Jiawei.Path Planning Algorithm of Obstacle Avoidance System for Cleaning Robot[J].Journal of Shanghai University of Electric Power,2018,34(3):264-267.
王道累,胡松,朱嘉伟.清洁机器人避障系统的路径规划算法研究[J].上海电力大学学报,2018,34(3):264-267.
WANG Daolei,HU Song,ZHU Jiawei.Path Planning Algorithm of Obstacle Avoidance System for Cleaning Robot[J].Journal of Shanghai University of Electric Power,2018,34(3):264-267.