障碍环境下轮式移动操作机随机路径规划方法  

Stochastic path planning method for wheeled mobile manipulators under obstructive environment

作　　者：闫庆辉[1] 尼姝丽[2] 付宜利[1] 马玉林[1] 

机构地区：[1]哈尔滨工业大学现代生产技术中心,黑龙江哈尔滨150001 [2]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《机械设计》2005年第8期16-18,共3页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50105002);哈尔滨工业大学校基金资助项目(HIT.2001.14)

摘　　要：针对移动操作机系统的高度冗余性和受非完整约束的特点,将随机路径规划方法应用于移动操作机系统的避障路径规划,首先求出移动平台的一条满足非完整约束的简单路径,然后以此路径作为位置约束,以操作臂的位形空间为采样空间进行随机无碰路径规划,最终实现了移动操作机在满足路径规划约束条件下的无碰操作运动。最后以平面移动操作机为例,通过计算机仿真说明了该方法的有效性。Aimed at the characteristics of high leveled redundancy and suffering incomplete restraints of mobile manipulator system, let the stochastic path planning method be applied to the obstacle avoidance path planning of the mobile manipulator system. Firstly, a simple path that satisfies incomplete restrains of mobile platform was find out, and then taking this path as the positional constraint and taking the configuration space of operating arm as the space of sampling to carry out stochastic non-collision path planning, finally, realized non-collision operative movement of mobile manipulator under the condition of satisfying the path planning constraints. Ultimately,taking the planar mobile manipulator of 7DOF as an example and by means of computer simulation the effectiveness of this method was explained.

关 键 词：轮式移动操作机 非完整约束 随机路径规划 避障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]