欢迎来到天天文库
浏览记录
ID:79193568
大小:59.48 KB
页数:6页
时间:2022-02-10
《翻译机器人概要》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
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^Pbtvmjalfteldm7、eenimpIementvJoniwbikrobn"withrealxi】wrydmnbyHrooks[]9K6.andhyArkinI9K9.Howfer.therol»linAikinlworkwasveryslow;itiravcr^danob^ljckmu「wulOJ2cm/sec(0.4feet/sec)+LnflurcunpreviousIEsearchwehavedevelopedaPFM,calledtheviriita!forcefield(VFF}method[BtvenvKhiandKo8、ren.19S9]TbmugbexieihiwexperimeiitalworkwithtkVTFiwthod.impleintfmedonowrmobilerohfltCARMEL,uehaveguii^dmuchinsightinth<小日唱lkand伙ukiK&EoftinsmeIhud.AtnongtheweaknessesoftheVFFmethodweidentifiedproblems
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
此文档下载收益归作者所有