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机器人运动规划方法综述

唐永兴1,朱战霞2,张红文1,罗建军2,袁建平2   

  1. 1. 西北工业大学航天学院
    2. 西北工业大学
  • 收稿日期:2021-10-11 修回日期:2021-11-24 出版日期:2021-12-09 发布日期:2021-12-09
  • 通讯作者: 朱战霞
  • 基金资助:
    空间非合作目标交会的多约束智能自主规划与控制;积极应对目标行为的多臂机器人在轨抓捕博弈规划与协调控制研究;空间非合作目标协同网捕的博弈控制

A Tutorial and Review on Robot Motion Planning

  • Received:2021-10-11 Revised:2021-11-24 Online:2021-12-09 Published:2021-12-09

摘要: 经过四十余年的发展,运动规划已成为机器人研究中的重要问题。首先阐释其基本内涵及经典算法的关键步骤;其次针对实时性与解路径(轨迹)品质间的矛盾,以是否考虑微分约束为标准,有层次地分析总结了现有的算法加速策略;最后面向不确定性(即传感器不确定性、未来状态不确定性和环境不确定性)下的规划和智能规划提出的新需求,对运动规划领域的最新成果和发展方向进行了评述。以期为后续研究提供思路。

关键词: 机器人, 组合运动规划, 基于采样的运动规划, 基于优化的运动规划, 反馈运动规划

Abstract: After more than 40 years of development, motion planning has been an important issue in robot research. This paper first explains its basic connotation and the key steps of classical algorithm. Secondly, aiming at the contradiction between real-time performance and the quality of solution path (trajectory), the existing algorithm acceleration strategy is analyzed and summarized hierarchically based on whether differential constraint is considered. Finally, facing the new requirements of planning under uncertainty (i.e., sensor uncertainty, future state uncertainty and environmental uncertainty) and intelligent planning, the latest achievements and development direction in the field of motion planning are reviewed. It is expected that the review can provide ideas for future research.

Key words: Robot, Combined motion planning, Sample-based motion planning, Optimized-based motion planning, Feedback motion planning

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