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基于混合整数线性规划的爬壁机器人路径规划

岳荣刚 王少萍

岳荣刚, 王少萍. 基于混合整数线性规划的爬壁机器人路径规划[J]. 北京航空航天大学学报, 2013, (6): 792-797.
引用本文: 岳荣刚, 王少萍. 基于混合整数线性规划的爬壁机器人路径规划[J]. 北京航空航天大学学报, 2013, (6): 792-797.
Yue Ronggang, Wang Shaoping. Path planning of a climbing robot using mixed integer linear programming[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, (6): 792-797. (in Chinese)
Citation: Yue Ronggang, Wang Shaoping. Path planning of a climbing robot using mixed integer linear programming[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, (6): 792-797. (in Chinese)

基于混合整数线性规划的爬壁机器人路径规划

基金项目: 111计划资助项目; LIA资助项目
详细信息
  • 中图分类号: TP242.6

Path planning of a climbing robot using mixed integer linear programming

  • 摘要: 为研究City-Climber爬壁机器人在3D建筑物环境中的路径规划问题,基于混合整数线性规划(MILP, Mixed Integer Linear Programming),提出了一种适用于City-Climber的路径规划方法.为了用MILP方法解决避障问题,首先用限制机器人控制输入的方法对City-Climber的数学模型进行解耦和线性化,再介绍了用MILP方法对控制输入进行描述的数学表达式,并提出了适用于爬壁机器人的新型代价函数,最后以一个方形房间为运动环境,用AMPL和CPLEX优化软件,以及Matlab软件解算路径规划问题.仿真结果表明:MILP方法较好地解决了City-Climber在3D环境下的路径规划和避障问题.

     

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出版历程
  • 收稿日期:  2012-06-05
  • 网络出版日期:  2013-06-30

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