Trajectory planning system in modular design for mobile robots

被引：0

作者：

Gradetsky, VG ^{[1
]}

Veshnikov, VB ^{[1
]}

Kalinichenko, SV ^{[1
]}

Liapunov, VM ^{[1
]}

Fedorov, VV ^{[1
]}

机构：

[1] Russian Acad Sci, Inst Problems Mech, Moscow, Russia

来源：

PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99 | 1999年

关键词：

mobile robot; trajectory planning; obstacle avoidance; programming modules; optimal control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A simulation system in modular programming design is suggested for trajectory planning of the mobile robot motion in dynamically changing environments. A flexible path planning system with simple decision making possibilities and optimisation control permits to perform successfully mobile vehicle functions in accordance with specifications prescribed. Ln this way the motion of the mobile vehicle should follow as precisely as possible to reach the directions and functional goals by means of the control system under its autonomous mode of operations or supervisor remote operating conditions. The study was carried out partially with financial support from the Russian Foundation for Basic Researches (Project No 99-01-00085).

引用

页码：887 / 900

页数：14

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