机器人路径规划及相关算法研究(精选).pdf

第 20 卷第 3 期
年月
May 2004 BULLETIN OF SCIENCE AND TECHNOLOGY 2 0 0 4 5
机器人路径规划及相关算法研究
庄慧忠,杜树新,吴铁军
(浙江大学工业控制技术国家重点实验室智能系统与决策研究所,杭州 310027)
摘要:路径规划是机器人学中的一个重要课题. 目前的研究主要分为全局规划方法和局部规划方法两大类. 全局
规划方法主要是以基于构形空间的几何法和拓扑法为主;而局部规划方法主要是以基于直角坐标空间的人工势场
法为主. 在对一些较有代表性的研究思想及其相关算法分析的基础上,本文提出了机器人路径规划今后的研究重
点.
关键词:自动控制技术;机器人;路径规划;构形空间;人工势场
中图分类号: 文献标识码:A 文章编号:1001 - 711(9 2004)03 - 0210 - 06
Research on Path Planning and Related Algorithms for Robots
ZHUANC Hui-zhong,DU Shu-xin,WU Tie-jun
(Institute of InteIIigent Systems and Decision Making,NationaI Laboratory of IndustriaI ControI TechnoIogy,
Zhejiang University,Hangzhou 310027,China)
Abstract:Path pIanning is one of important topics in robotics. The research has been studied extensiveIy thus far with two essen-
tiaI sorts. One is gIobaI pIanning approach,and the other is IocaI pIanning approach. GIobaI pIanning approach primariIy incIudes
geometric method and topoIogicaI method based on configuration space whiIe the IocaI one chiefIy invoIves artificiaI potentiaI fieId
method based on Cartesian space. On the basis of the anaIysis of some typicaI ideas,methods and reIated aIgorithms of path pIan-
ning for mobiIe and manipuIator robots,this paper proposes the future research emphasis of robot path pIanning.
Key words:automatic controI technoIogy;robot;path pIanning;configuration space;a