翻译机器人概要

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1、附录1:英文文献PotentialFieldMethodsandTheirInherentLimitationsforMobileRobotNavigationbvrY,Koren.SeniorMember,VEEEandJ.Borenskin.Member.IHEETheUniversityofMichigan.AnnArborABSTRACTPotenlialfieldmethodsareKiRdygainingpupjlarrtyinobstacleavoidanceaophcatiansformobi

2、lerobotsandmanipulators.Whilethepolentialfieldprincipleisparticularlyattractivebecauseofitseleganceand$屈口就四4sub品aritialshortcomingshavebeenidentifiedasproblemsthatare时也用IoIhrsprinciple.BaseduponmaIhematicalanalysis,thispaperpresentsasystematiccriticismofthe

3、inlierentproblems.Thehear!ofIhisanalysisisaddlerenlialequationthatcombinestherobotandtheenvironmentIntoaunifiedsystem.TheIdentifiedproblemsarediscussedinqualitativeandtheoreticaltermsanddocumentedwithexperimentalresultsfromactualmobilerobotruns.LIntrialucli

4、imDuringthepastDwyeargpotenlialfieldmethcxlsiPFM)DrobsindeavoidancehavegainedincreasedpopuhriyamongresearchersinthefieldofrolxiisandmobilerobotsTheilkaofimaginaryforcesactingonaroholbeensuggeslcdbyAndr^^andHogitn119S31andKlkUib11985].Intlieseapproachesobsta

5、clesexertrepulsiveforcesontotherobotwhilethetargetappliesanatLraclivetorcetotherobot.ThesumofaDforces,theresultantforceR,detenninesiheobsequentdirectk)nandspeedMtravelOneofthereasonsforthepopularityofthismethodisitssimplicityandelegance.SitupkPFMscanK?Liiip

6、LcincnlcdqukkhandiniliaU)provkkacceptableresultswithoutrequiringmanyrefinements.Thorpe[I985ha，appliedlhe同lentHGeldmethodEi而Hikpathplanning:mdKmghandThorpe11WOsuggesl■卒堆以由ndpiitiftiiidfieh!m€Lhndthatcombine;;^lobiilJikl/加tdpt；fhphuiniii^Pbtvmjalfteldm

7、eenimpIementvJoniwbikrobn"withrealxi】wrydmnbyHrooks[]9K6.andhyArkinI9K9.Howfer.therol»linAikinlworkwasveryslow;itiravcr^danob^ljckmu「wulOJ2cm/sec(0.4feet/sec)+LnflurcunpreviousIEsearchwehavedevelopedaPFM,calledtheviriita!forcefield(VFF}method[BtvenvKhiandKo

8、ren.19S9]TbmugbexieihiwexperimeiitalworkwithtkVTFiwthod.impleintfmedonowrmobilerohfltCARMEL,uehaveguii^dmuchinsightinth<小日唱lkand伙ukiK&EoftinsmeIhud.AtnongtheweaknessesoftheVFFmethodweidentifiedproblems