机器人轨迹规划的优化方法

IF 1.6 Q2 EDUCATION & EDUCATIONAL RESEARCH

Multidisciplinary Journal for Education Social and Technological Sciences Pub Date : 2018-03-29 DOI:10.4995/MUSE.2018.9867

C. Llopis-Albert, F. Rubio, F. Valero

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引用次数: 22

摘要

自主机器人最优轨迹规划算法的开发是机器人高效执行任务的关键问题。具有多个臂和/或自由度(dof)的机器人的运动学和动力学的复杂环境、无碰撞轨迹的设计以及机器人的物理限制阻碍了这一问题的解决。本文综述了现有的机器人运动规划技术，并讨论了它们在完整性、最优性、效率、精度、平滑性、稳定性、安全性和可扩展性方面的优缺点。

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Optimization approaches for robot trajectory planning

The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof), the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.

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来源期刊

Multidisciplinary Journal for Education Social and Technological Sciences EDUCATION & EDUCATIONAL RESEARCH-

自引率

27.30%

发文量

审稿时长

16 weeks