| 引用本文: | 项祯桢,苏剑波.表征空间中的机器人分层运动规划[J].控制理论与应用,2015,32(9):1261~1268.[点击复制] |
| XIANG Zhen-zhen,SU Jian-bo.Robotic hierarchical motion planning in its representation space[J].Control Theory and Technology,2015,32(9):1261~1268.[点击复制] |
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| 表征空间中的机器人分层运动规划 |
| Robotic hierarchical motion planning in its representation space |
| 摘要点击 2832 全文点击 2034 投稿时间：2015-04-01 修订日期：2015-08-23 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2015.50255 |
| 2015,32(9):1261-1268 |
| 中文关键词 运动规划 表征空间 仿人机器人 多机器人协调 |
| 英文关键词 motion planning representation space humanoid robot multi-robot coordination |
| 基金项目 国家自然科学基金项目(61221003, 61533012)资助. |
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| 中文摘要 |
| 由于对机器人的任务要求日趋复杂和多变, 如何使机器人具备灵活的配置和运动规划能力, 以适应复杂任务的需求, 成为了目前运动规划领域所研究的核心问题. 传统的基于任务空间和配置空间的建模方法虽然在机器人运动规划领域得到了非常广泛的应用, 但在用于解决复杂规划任务时无法对不可行任务进行进一步地处理. 本文在表征空间模型的基础上, 提出了一种分层的运动规划算法, 一方面借助于表征空间维度的扩展, 使对运动规划任务的描述更为灵活; 另一方面通过任务层与运动层的循环交互, 使生成的路径满足更高层次和更丰富的任务要求.在仿人机器人和多机器人系统上的应用结果表明了本文所提算法的有效性.
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| 英文摘要 |
| In enormous and complicated robotic applications, the key issue in the field of robot motion planning is to
endow the robot with the ability of adapting to various tasks. Although traditional task-space and configuration-space-based
motion planning methods have been successfully applied to many practical applications, few of them can be used to handle
the situation when the planning algorithms fail to find a feasible path, especially with strict and complicated requirements.
In this paper, a representation-space-based hierarchical motion planning method is proposed. Taking the advantage in
increasing the number of dimensions of the representation space, the motion planning task can be modeled with much more
flexibility. On the other hand, through the interaction between the task level and motion level, the iteratively generated
trajectory will satisfy higher and richer task requirements. Performance of motion planning tasks on humanoid robots and
multi-robot systems prove the effectiveness of the proposed method. |
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