A new strategy for robot path planning based on the finite element method

被引：0
|
作者：
Cao, Zhang [1 ]
Meng, Qinghao [2 ]
Wang, Huaxiang [2 ]
Xu, Lijun [1 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Sch Instrument Sci & Optoelect Engn, Beijing 100083, Peoples R China
[2] Tianjin Univ, Sch Elect Engn & Automat, Tianjin 300072, Peoples R China
来源：
SEVENTH INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION AND CONTROL TECHNOLOGY: SENSORS AND INSTRUMENTS, COMPUTER SIMULATION, AND ARTIFICIAL INTELLIGENCE | 2008年 / 7127卷
关键词：
path planning; model; finite element method; vector potential field;
D O I：
10.1117/12.806839
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper discusses a new model that integrates the environment information for the robot path planning. This model could be regarded as a generalization of the artificial potential (AP) method. The path with the least turning angles, i.e. the smoothest, is defined as the optimal path. The finite element method is used to construct global optimum path planning strategy for a robot in a known environment for both static and dynamic cases. Simulation results show that this method is feasible for the path planning of a point robot in a complicated environment.
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收藏
页数：6
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