非完整移动机器人的路径规划与轨迹规划

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI:10.1109/IROS.1989.637925

R. Zapata, J. Thevenon, M. Perrier, E. Pommier, E. Badi

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引用次数: 9

摘要

研究了移动机器人在动态非结构环境中的路径规划和轨迹规划问题。讨论了大运动时的避障问题，提出了一种多专家运动规划系统。然后，研究了精细运动的非完整约束。最后，给出了一些具体实现。

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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Path Planning And Trajectory Planning For Non Holonomic Mobile Robots

This paper adresses the Path Planning and the Trajectory Planning problems for mobile robots moving in dynamic ill-structured environments. The obstacle avoidance problem during large motions is discussed and a multi-expert motion planning system is described. Then, the non holonomic constraints are studied for the fine motions. At last, some implementations are described.

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来源期刊

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications

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