基于目标导向的连续型机器人路径规划  

Path planning for continuum robot based on target guided angle

作　　者：高庆吉[1] 王磊[1] 牛国臣[1] 王维娟[1] 

机构地区：[1]中国民航大学机器人研究所,天津300300

出　　处：《北京航空航天大学学报》2013年第11期1486-1490,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：中央高校基本科研业务费资助项目(ZXH2011D008)

摘　　要：采用连续型机器人对空间约束严格的飞机油箱进行检查,研究了其在类似凸体空间内的路径规划问题,提出一种基于目标导向的规划算法.针对空间盲目搜索算法时间复杂度高问题,研究降维和区域划分策略.引入目标导向角,建立目标点与变量搜索范围的关系,优化搜索过程并设计评价函数对搜索结果寻优.进行仿真实验,结果验证了算法的可行性和有效性.To inspect the aircraft fuel tank which has strong space constraints, path planning for continu um robot applied to this kind of convex space was studied. An algorithm based on target guided angle was presented. Strategies of dimension reduction and regional division were proposed to decrease the high time complexity of blind search. The relationship between the target and the searching range of joint variables was established by introducing the target guided angle. Then the search process was optimized and evaluation func tion was proposed to evaluate results of search algorithm. Feasibility and effectiveness of the algorithm are con firmed through simulative results.

关 键 词：连续型机器人 凸体空间 路径规划 降低维度 目标导向 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]