复杂导航函数的计算

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570644

L. Pimenta, A. R. Fonseca, G. Pereira, R. Mesquita, E. J. Silva, W. Caminhas, M. Campos

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引用次数: 19

摘要

本文研究了机器人导航函数的高效计算问题。导航函数是一种不存在虚假局部极小值的势能函数，它能精确地解决机器人运动规划和控制问题。虽然在文献中发现了一些方法，但它们都不容易实现和推广到复杂形状的工作空间和机器人。我们讨论了当前方法中遇到的一些困难，并提出了一种使用有限元方法进行势场计算的新方法。

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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On Computing Complex Navigation Functions

This paper addresses the problem of efficiently computing robot navigation functions. Navigation functions are potential functions free of spurious local minima that present an exact solution to the robot motion planning and control problem. Although some methodologies were found in the literature, none of them are easy to implement and generalize for complex shaped workspaces and robots. We discuss some of the difficulties encountered in the current methodologies and propose a novel approach using a Finite Element method for potential field computation.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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