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基于目标导向的连续型机器人路径规划

高庆吉 王磊 牛国臣 王维娟

高庆吉, 王磊, 牛国臣, 等 . 基于目标导向的连续型机器人路径规划[J]. 北京航空航天大学学报, 2013, 39(11): 1486-1490.
引用本文: 高庆吉, 王磊, 牛国臣, 等 . 基于目标导向的连续型机器人路径规划[J]. 北京航空航天大学学报, 2013, 39(11): 1486-1490.
Gao Qingji, Wang Lei, Niu Guochen, et al. Path planning for continuum robot based on target guided angle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(11): 1486-1490. (in Chinese)
Citation: Gao Qingji, Wang Lei, Niu Guochen, et al. Path planning for continuum robot based on target guided angle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(11): 1486-1490. (in Chinese)

基于目标导向的连续型机器人路径规划

基金项目: 中央高校基本科研业务费资助项目(ZXH2011D008)
详细信息
  • 中图分类号: TP242.3

Path planning for continuum robot based on target guided angle

  • 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.

     

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出版历程
  • 收稿日期:  2012-12-24
  • 刊出日期:  2013-11-30

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