移动机器人平滑路径规划与控制

Proceedings. 2005 IEEE Networking, Sensing and Control, 2005. Pub Date : 2005-03-19 DOI:10.1109/ICNSC.2005.1461311

Shangming Wei, M. Žefran

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引用次数: 19

摘要

本文提出了一种新的基于全传感器的自主移动机器人路径规划算法。该算法在保证全局收敛的同时，生成的路径是平滑的，这是在真实机器人上实现的关键要求。利用混合控制技术证明了该方案的完备性。

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Smooth path planning and control for mobile robots

In this article a new complete sensor based path planning algorithm for autonomous mobile robot is presented. The algorithm guarantees global convergence to the target while at the same time the generated path is smooth, a key requirement for implementation on real robots. The completeness of the proposed scheme is proved using techniques from hybrid control.

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来源期刊

Proceedings. 2005 IEEE Networking, Sensing and Control, 2005.

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