拱泥机器人避障运动过程数学模型研究  

Study on Machematical Models of Move-in-mud Robot Moving Process of Keeping away from Obstacle

作　　者：张岚[1,2] 任福君[3,4] 孟庆鑫[5] 牛国玲 

机构地区：[1]佳木斯大学 [2]哈尔滨工程大学黑龙江哈尔滨150001 [3]哈尔滨理工大学 [4]佳木斯大学,黑龙江佳木斯154007 [5]哈尔滨工程大学

出　　处：《林业机械与木工设备》2004年第2期29-32,共4页Forestry Machinery & Woodworking Equipment

基　　金：国家自然科学基金资助项目(69885003)

摘　　要：概述了拱泥机器人主要组成及工作原理。在无障碍运动过程分析的基础上,分析了拱泥机器人避障运动过程的基本规律,建立了避障运动过程的数学模型,可用于避障运动过程计算机仿真研究的仿真模型,也可以作为实际工作中路径规划的重要依据。In the paper, the primary components and work functions of move-in-mud robot were summarized. On the base of analyzing unobstructed moving process of move-in-mud robot, the move-in-mudrobot basic moving process orderliness of keeping away from obstacle was analyzed, and its mathematical model was established. The model can be used as computer simulation study of moving process that keeps away from obstacles, and as important gist of route programming in practical work.

关 键 词：拱泥机器人 避障运动 数学模型 工作原理 路径规划 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]