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本文介绍一种类似位姿的全局路径表示法,以三角形自由空间网络为基础构造平面图,然后构造出解答树,通过搜索方法找出所有可通路径的全局路径规划方法及其仿真结果.还介绍由规划器给出允许位姿集描述的路径,与规划库中的规则相匹配,确定机器人的动作,最终到达目标,这样一种基于知识的路径控制器及其实验结果.
In this paper, we present a global pose representation similar to pose, construct a floor plan based on the triangular free space network, and then construct a solution tree to find out the global path planning methods and their simulation results of all available paths by searching method. The planner gives a path that allows the pose set to be described, matches the rules in the planning repository, determines the robot’s motion, and finally reaches the target. Such a knowledge-based path controller and its experimental results.