基于任务分解的机器人路径规划导航  

Robotic Path Planning and Navigation Based on Task Breakdown

作　　者：蒋美云[1] 郭雷[1] 钟宜星 

机构地区：[1]南京工业职业技术学院计算机与软件学院,江苏南京210023

出　　处：《计算机与现代化》2014年第8期16-20,共5页Computer and Modernization

摘　　要：介绍一种基于目标分解的机器人导航系统,机器人通过激光或声纳传感器获得地图信息,并以此为基础,系统控制机器人按照事先规划路径的分解任务导航,最终利用视觉传感器发现目标球并加以捕获。分析仿真和实际环境实验数据存在差异的原因,证明系统实现了预期目标。This paper presents a robotic navigation system based on work breakdown structure,in which Pioneer II-Dx robot gets data from laser and sonar sensors. Through calculating it,the system controls the robot to move along the planning path,in the end,to find and catch the ball. By analyzing why there is some difference in the data from simulator and real environment,it proves that this system can make robot complete its tasks.

关 键 词：机器人 导航 避障 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]