约束机器人运动规划:不平衡雅可比算法与最优控制方法

2010 15th International Conference on Methods and Models in Automation and Robotics Pub Date : 2010-09-27 DOI:10.1109/MMAR.2010.5587270

M. Janiak, Krzysztof Tchona

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引用次数: 6

摘要

研究了具有构型和控制变量约束的非完整机器人系统的运动规划问题。将不平衡雅可比运动规划算法与最优控制方法进行了比较。独轮车式移动机器人的计算机模拟是比较的基础。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Constrained robot motion planning: Imbalanced Jacobian algorithm vs. optimal control approach

We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.

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2010 15th International Conference on Methods and Models in Automation and Robotics

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