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根据机器人的运动方程 ,考虑移动障碍和机器人的速度信息及在它们与机器人之间 3个方程的距离 ,提出了动态环境中控制机器人导航的算法 ,得出机器人避障最小距离 ,并针对环境中典型的情况进行理论分析 .该算法减少了机器人实时计算路径的花费 ,特别适用于机器人在复杂、动态环境中实时路径控制 .所提算法的有效性由实验验证 .
According to the robot’s equation of motion, taking into account the moving obstacles and the speed information of the robot and the distance between them and the three equations of the robot, an algorithm for controlling the robot’s navigation in a dynamic environment is proposed, and the minimum obstacle avoidance distance of the robot is obtained. The typical case is analyzed theoretically.The algorithm reduces the cost of real-time robot path calculation and is especially suitable for real-time path control of robots in complex and dynamic environment.The validity of the proposed algorithm is verified experimentally.