应用几何理论的智能机器人路径规划仿真  

Simulation of a Comprehensive Path Planning for Intelligent Robot Using Geometry Rules

作　　者：王菁华[1] 崔世钢[1] 

机构地区：[1]天津工程师范学院自动化与电气工程学院,天津300222

出　　处：《计算机仿真》2010年第5期153-156,共4页Computer Simulation

摘　　要：路径规划是智能机器人导航的基本环节之一,具有复杂性、随机性等特点。研究应用于医疗服务系统的智能机器人,对于机器人工作环境最大的特征就是周围物体运动的复杂性和随机性。充分考虑了运动障碍物的随机性,研究了随机运动障碍物的位置分布规律,并结合其具有惯性的特点和导航需求,提出了一种应用几何理论对智能机器人运动路线进行逐步判别的"直线-切线-垂线"路径规划方法。经计算机仿真表明,方法是一种正确、高效、实用的算法,对研究智能机器人绕过随机运动障碍具有一定的参考价值。Path planning is one of the basic aspects of the navigation for the intelligent robot. This paper studies robots ued in medical services fields. The working environment of the robhs is the complexity and randomness of the surrounding moving obstacle. The rule for the position on random moving obstacle distribution is studied in detail based on the randomness of moving obstacle. A comprehensive path planning for judging the moving route of the robot used geometry rules - ＂straightline - tangent - vertical＂ is proposed by considering the inertia characteristics of random moving obstacle. The computer simulation shows that the algorithm is correct, efficient, practical and successful, which has the reference value for robots to bypass the moving obstacle.

关 键 词：智能机器人 几何理论 “直线-切线-垂线”路径规划 随机障碍物 计算机仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]