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摘要: 提出了一种新的路径规划方法即自主行为路径规划方法.该方法能够自动构造大范围 自然环境下与路径规划任务相关的一类拓扑结构,从而大大地提高自然环境下月球车路径规划 速度.该方法在Tangent-Bug切线法基础上引入一组自适应行为来构造切线拓扑图,它是人工 路径规划行为的模仿,克服了计算几何路径规划方法非线性计算时间的不足.文中给出了相关 定义、定理、算法及真实环境下的仿真结果.Abstract: This paper deals with a new autonomous behavior path planning method for the lunar rover, which adapts to any obstacles and allows for the real world with large area. The path-planning scheme greatly improves computation egeometrics based path planning methods by using a group of adaptive and oriental behaviors which simulate human behaviors for path planning to construct the topological graph of Tangent-Bug automatically and quickly. At the same time, basic terms, definitions and theorems of the method as well as simulation results in the real world are presented.
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Key words:
- Path planning /
- behavior control /
- behavior-based control /
- lunar rover /
- robot
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