摘要
阐述一种巡检机器人双距离场自动导航算法,构建起点源距离场与边界距离场连接路径,通过距离场间的约束作用,提出连接的中心路径。结果显示,能够实现巡检机器人开展机房自动导航,符合巡检要求。该算法能够以较小的计算代价设计出机房巡检机器人自动导航路径,灵活性、稳定性和适用性较高。
This paper describes a dual distance automatic navigation algorithm for inspection robots, constructing a connection path between the starting source distance field and the boundary distance field. Through the constraint effect between the distance fields, the center path of the connection is proposed. The results show that it can achieve automatic navigation of the inspection robot in the computer room, which meets the inspection requirements. This algorithm can design automatic navigation paths for computer room inspection robots with low computational costs, and has high flexibility, stability, and applicability.
作者
李志飞
宿建波
陶熠昆
张淑兰
LI Zhifei;SU Jianbo;TAO Yikun;ZHANG Shulan(Yalong River Basin Hydropower Development Co.,Ltd.,Sichuan 610051,China;Zhejiang Guozi Robotics Technology Co.,Ltd.,Zhejiang 310053,China)
出处
《电子技术（上海）》
2024年第3期357-359,共3页
Electronic Technology
关键词
巡检机器人
自动导航
路径提取
双距离场
inspection robot
automatic navigation
path extraction
dual distance field
