ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

水果收獲機(jī)器人避障路徑規(guī)劃
CSTR:
作者:
作者單位:

作者簡介:

通訊作者:

中圖分類號:

基金項(xiàng)目:


Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 圖/表
  • |
  • 訪問統(tǒng)計(jì)
  • |
  • 參考文獻(xiàn)
  • |
  • 相似文獻(xiàn)
  • |
  • 引證文獻(xiàn)
  • |
  • 資源附件
  • |
  • 文章評論
    摘要:

    在綜合分析路徑規(guī)劃研究的基礎(chǔ)上,,采用基于概率地圖的路徑規(guī)劃方法,,運(yùn)用啟發(fā)式搜索算法對水果收獲機(jī)器人機(jī)械臂運(yùn)動(dòng)路徑進(jìn)行實(shí)時(shí)規(guī)劃,。在搜索過程中,,以位姿點(diǎn)密度作為權(quán)重使路徑向自由空間擴(kuò)散,,避免過度采樣,。為提高路徑規(guī)劃速度,,采用延遲碰撞檢測策略,,可有效降低計(jì)算量,。采用有向包圍盒進(jìn)行碰撞檢測,。最后利用虛擬現(xiàn)實(shí)技術(shù),對水果收獲時(shí)要繞過的支架和狹窄區(qū)域進(jìn)行三維計(jì)算機(jī)模擬,。結(jié)果顯示,,路徑規(guī)劃時(shí)間均小于0.15 s,達(dá)到實(shí)時(shí)要求,。

    Abstract:

    In research of path planning of fruit picking robot the probabilistic roadmap method is adopted to achieve on-line planning with heuristic search arithmetic. At the sampling and searching stage, the density of samples in neighborhood was used as weight to control expansion of roadmap and avoiding over sampling in free space. After finding out best path, we used hierarchical decomposition methods to detect collision, which based on oriented bounding boxes. When picking the fruit, a robot usually needs to round over shelf and pass through narrow region. We simulated these two typical situations with virtual reality technique. The results show that a path planning cycle is less than 0.15 s and meets the request of real-time.

    參考文獻(xiàn)
    相似文獻(xiàn)
    引證文獻(xiàn)
引用本文

蔡健榮,趙杰文,Thomas Rath, Macco Kawollek.水果收獲機(jī)器人避障路徑規(guī)劃[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(3):102-105.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(3):102-105.

復(fù)制
分享
文章指標(biāo)
  • 點(diǎn)擊次數(shù):
  • 下載次數(shù):
  • HTML閱讀次數(shù):
  • 引用次數(shù):
歷史
  • 收稿日期:
  • 最后修改日期:
  • 錄用日期:
  • 在線發(fā)布日期:
  • 出版日期:
文章二維碼