计算机工程与应用 ›› 2008, Vol. 44 ›› Issue (20): 218-221.DOI: 10.3778/j.issn.1002-8331.2008.20.066

• 工程与应用 • 上一篇    下一篇

多模态控制在机器人路径规划中的应用

邵桂芳1,2,李祖枢2,于 芳2   

  1. 1.厦门大学 模式识别与智能系统研究所,福建 厦门 361005
    2.重庆工学院 人工智能系统研究所,重庆 400050
  • 收稿日期:2007-10-09 修回日期:2007-12-17 出版日期:2008-07-11 发布日期:2008-07-11
  • 通讯作者: 邵桂芳

Application of multi-modal control in robot path planning

SHAO Gui-fang1,2,LI Zu-shu2,YU Fang2   

  1. 1.Institute of Pattern Recognition and Intelligent System,Xiamen University,Xiamen,Fujian 361005,China
    2.Institute of Artificial Intelligent System,Chongqing Institute of Technology,Chongqing 400050,China
  • Received:2007-10-09 Revised:2007-12-17 Online:2008-07-11 Published:2008-07-11
  • Contact: SHAO Gui-fang

摘要: 路径规划作为机器人基本动作实现的基础,其优劣将直接影响动作的实时性和准确性。经典PID控制虽然能准确跟踪目标,但缺乏轨迹优化能力,提出应用多模态控制方法,通过不同的感知驱动相应运动控制,以静态目标导航和动态目标导航为例详细介绍了多模态控制设计方法,并以上海交大的中型机器人Frontier-I为例,通过实验与PID进行比较,验证了方法的有效性。

关键词: 路径规划, PID, 多模态

Abstract: As the base for robot basic action realizing,the best or worst of path planning will affect the real-time and varacity of action.Although classical PID can track object exactly,but it lacks of track optimizing capacity.This paper proposes that making use of multi-modal method,through different perception to drive the corresponding motion control,and taking static and dynamic object navigation as examples,detaily introduce the design method of multi-modal control.Finally,taking the middle-size robot Frontier-I of Shanghai Jiaotong University as example,does many experiments and compares with the PID control method,proves the validity of the method proposed in this paper.

Key words: path planning, PID, multi-modal