空间机械臂在线实时避障路径规划研究

IMECH-IR > 力学所知识产出(1956-2008)

	空间机械臂在线实时避障路径规划研究
Alternative Title	On-line Real-time Obstacle Avoidance Path Planning of Space Manipulator
	陈靖波; 赵猛; 张珩
Source Publication	控制工程
	2007-07-20
Volume	14 Issue:4 Pages:445-447,450
ISSN	1671-7848
Abstract	针对目前空间机械臂避障路径规划算法计算量大难以达到在线实时规划的缺点,对空间机械臂的在线实时避障路径规划问题进行了研究和探讨.采用规则体的包络对障碍物进行建模,并借助C空间法的思想,把障碍物和机械臂映射到两个相互垂直的平面内,将机械臂工作空间的三维问题转化为二维问题,并结合二岔树逆向寻优的方法进行路径搜索,从而大大减少了计算量,达到了在线实时规划的要求.最后在空间机器人仿真系统上对其进行了仿真研究,验证了该方法的可行性.
Keyword	空间机械臂实时避障路径规划
Indexed By	CSCD
Language	中文
CSCD ID	CSCD:2846929
Citation statistics	Cited Times:10[CSCD] [CSCD Record]
Document Type	期刊论文
Identifier	http://dspace.imech.ac.cn/handle/311007/40770
Collection	力学所知识产出(1956-2008)
Corresponding Author	陈靖波
Recommended Citation GB/T 7714	陈靖波,赵猛,张珩. 空间机械臂在线实时避障路径规划研究[J]. 控制工程,2007,14,4,:445-447,450.
APA	陈靖波,赵猛,&张珩.(2007).空间机械臂在线实时避障路径规划研究.控制工程,14(4),445-447,450.
MLA	陈靖波,et al."空间机械臂在线实时避障路径规划研究".控制工程 14.4(2007):445-447,450.

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