基于任务分解的机器人路径规划导航

doi:10.3969/j.issn.1006-2475.2014.08.004

计算机与现代化 ›› 2014, Vol. 0 ›› Issue (8): 16-20.doi: 10.3969/j.issn.1006-2475.2014.08.004

基于任务分解的机器人路径规划导航

（南京工业职业技术学院计算机与软件学院，江苏南京210023）

收稿日期:2014-04-28 出版日期:2014-08-15 发布日期:2014-08-19
作者简介:蒋美云(1977-),女，江苏宜兴人,南京工业职业技术学院计算机与软件学院讲师,研究方向：人工智能；郭雷(1975-),男,江苏淮阴人，讲师,研究方向：人工智能，软件测试；钟宜星(1991-)，男，江苏盐城人，本科生，研究方向：软件技术。

Robotic Path Planning and Navigation Based on Task Breakdown

（School of Computer and Software, Nanjing Institute of Industry Technology, Nanjing 210023, China）

Received:2014-04-28 Online:2014-08-15 Published:2014-08-19

摘要/Abstract

摘要： 介绍一种基于目标分解的机器人导航系统，机器人通过激光或声纳传感器获得地图信息，并以此为基础，系统控制机器人按照事先规划路径的分解任务导航，最终利用视觉传感器发现目标球并加以捕获。分析仿真和实际环境实验数据存在差异的原因，证明系统实现了预期目标。

关键词: 机器人, 导航, 避障

Abstract: This paper presents a robotic navigation system based on work breakdown structure, in which Pioneer II-Dx robot gets data from laser and sonar sensors. Through calculating it, the system controls the robot to move along the planning path, in the end, to find and catch the ball. By analyzing why there is some difference in the data from simulator and real environment, it proves that this system can make robot complete its tasks.

Key words: robot, navigation, avoidance obstacle

中图分类号:

TP242.6

蒋美云，郭雷，钟宜星. 基于任务分解的机器人路径规划导航[J]. 计算机与现代化, 2014, 0(8): 16-20.

JIANG Mei-yun， GUO Lei， ZHONG Yi-xing. Robotic Path Planning and Navigation Based on Task Breakdown[J]. Computer and Modernization, 2014, 0(8): 16-20.

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基于任务分解的机器人路径规划导航

Robotic Path Planning and Navigation Based on Task Breakdown

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