Шукати за:
The Variable Strategy Method of Constructing Trajectories of the Motion of Robot in the Environment with Obstacles
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УДК: 004.896:62-523.8
Мова публікації: Російська
Stuc. intelekt. 2008; 13; (3):451-461
Анотація: In this paper is proposed and investigated the method of constructing trajectories of the motion of robots in environments with obstacles based on the change of behavior strategies depending of situation. Method consists of a number of steps. First is made an attempt of the construction into the purposeful point of canonical trajectory in the free space, optimum for the time and taking into account dynamic limitations. The rapid analysis of the presence of intersections of the constructed trajectory with obstacles is based on their pyramidal structure. Are described the realizing the developed method computer program at Matlab and results of experimental studies based on the example of the space technological manipulator.
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