| 引用本文: | 林怡青， 周其节.一种有指导的轮式机器人全局规划方法*[J].控制理论与应用,1998,15(1):130~133.[点击复制] |
| LIN Yiqing and ZHOU Qijie.A Guided Global Planning Method for Wheeled Robot[J].Control Theory and Technology,1998,15(1):130~133.[点击复制] |
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| 一种有指导的轮式机器人全局规划方法* |
| A Guided Global Planning Method for Wheeled Robot |
| 摘要点击 898 全文点击 384 投稿时间：1996-09-06 修订日期：1997-04-08 |
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| DOI编号 |
| 1998,15(1):130-133 |
| 中文关键词 机器人 运动规划 非完整约束 |
| 英文关键词 robot motion plnning nonholonomic constraint |
| 基金项目 |
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| 中文摘要 |
| 非完整系统的运动规划是尚未得到充分研究的重要问题. 本文把全局规划方法与局部规划方法结合起来， 提出一种包含非完整约束条件的有指导的全局运动规划方法， 并通过仿真验证了其可行性. |
| 英文摘要 |
| Motion planning of nonholonomic system is an important issue which had not yet been fully studied. In this article,global method is combined with local method,and a guided global planning method in- cluding nonholonomic constraint is proposed. The feasibility of the method is tested. |