摘要
由于航天机器人工作环境的非确定性，这类机器人运动规划问题的关键是要求规划系统具有实时性，以便与传感信息相结合。基于姿态空间路径规划方法的核心问题是如何将位于机器人工作空间中的障碍物快速映射到姿态空间中。本文利用机器人基本工作面和基本碰撞体的概念来解决快速映射障碍物的问题。研究结果表明，该方法映射障碍物的时间为毫秒级，完全可以满足机器人在非确定环境中实时规划的要求。
ecause a space robot usually operates in uncertain environments, path planning for the space robot should be performed in real time so as to connect with information from sensors. A key issue of configuration space-based approaches is fast mapping obstacles from workspace to configuration space. Based on a fundamental area and fundamental obstacles defined in workspace, this paper presents an exact analytical model for computing the images of fundamental obstacles in configuration space and a geometric algorithm for fast mapping of a complex obstacle. The results show that the mapping time for 3D obstacles is order of microseconds. The proposed approach is suitable for the requirement on real-time robot path planning in the uncertain environments.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
1995年第5期1-6,共6页
Journal of Tsinghua University(Science and Technology)
基金
国家"863"高技术项目
关键词
姿态空间计算
运动规划
机器人
路径规划
configuration space computing
motion planning
collision avoidance
off-line programming
robot
