基于动力学模型的移动机器人轨迹规划

Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI:10.1109/INES.1997.632412

C. Gurtler, L. Vajta, I. Nagy

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引用次数: 6

摘要

在本文中，我们描述了一个多边形移动机器人的最优轨迹规划算法，能够平移运动，在已知的环境中，利用机器人的动力学特性。导航环境包含固定的多边形障碍物，其边界壁也是多边形。整个导航环境的地图(障碍和自由空间)已经是已知的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory planning for mobile robots based on dynamical models

In this paper we describe an algorithm for optimal trajectory planning of a polygonal mobile robot, capable of translational motion, in a known environment, using the dynamic properties of the robot. The navigational environment contains stationary polygonal obstacles, its bounding walls are also polygonal. The whole map of the navigational environment (the obstacles and the free space) is already known.

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Proceedings of IEEE International Conference on Intelligent Engineering Systems

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