基于非均匀环境建模与三阶Bezier曲线的平滑路径规划
卜新苹1; 苏虎1; 邹伟1; 王鹏1; 周海2
2017-05
发表期刊自动化学报
卷号43期号:5页码:710-724
其他摘要In this paper, a path planning algorithm is proposed to search feasible paths for an auxiliary robot working in complex environment. The movement of the robot could thus be guided by the planned result of the algorithm in assembly practice. In the process of environmental modeling, a quad tree method is employed to construct the non-uniform environmental model, which decreases the amount of environmental information to a minimum as needed. As a result, the searching e±ciency is improved. In the process of path searching, on the basis of the prede¯ned non-uniform environmental model, an improved ant colony algorithm is presented to search the path points for the robot, which adopts distance-based heuristic search method and fusion of two di®erent pheromone updating mechanisms. In the process of path smoothing, Bezier turn is designed based on cubic Bezier curves to connect two arbitrary con¯gurations. Bezier turns are used to ¯t a sequence of objective points o®ered by the improved ant colony algorithm, so that a smooth path satisfying the robot0s nonholonomic constraints can be obtained. Finally, the method is experimentally demonstrated in target area with large laser facility. Furthermore, the feasibility and security of the planned path is veri¯ed based on the platform of DELMIA.
关键词平滑路径规划 蚁群算法 非均匀建模 Minkowski 和 Bezier 曲线
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15413
专题精密感知与控制研究中心_精密感知与控制
作者单位1.中国科学院自动化研究所精密感知与控制研究中心
2.中国工程物理研究院激光聚变研究中心
推荐引用方式
GB/T 7714
卜新苹,苏虎,邹伟,等. 基于非均匀环境建模与三阶Bezier曲线的平滑路径规划[J]. 自动化学报,2017,43(5):710-724.
APA 卜新苹,苏虎,邹伟,王鹏,&周海.(2017).基于非均匀环境建模与三阶Bezier曲线的平滑路径规划.自动化学报,43(5),710-724.
MLA 卜新苹,et al."基于非均匀环境建模与三阶Bezier曲线的平滑路径规划".自动化学报 43.5(2017):710-724.
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