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无约束运动体多目标路径规划

发表时间:2009-10-31  浏览量:1678  下载量:732
全部作者: 郭锋,田彦涛,王红睿
作者单位: 吉林大学通信工程学院
摘 要: 通过对板球系统实验平台中无约束运动体多目标路径规划问题的研究,提出了一种基于熵权理论与Djikstra算法相结合的多目标路径规划方法。从无约束运动体的运动不确定性特点出发,给出了考虑路径长度、碰到障碍物等因素的路径规划方法。通过仿真结果证明了该方法能够较好地满足板球系统无约束运动体路径规划的要求。
关 键 词: 控制理论与控制工程;板球系统;多目标决策;路径规划;熵权法
Title: Multi-objective path planning of unconstrained mobile
Author: GUO Feng, TIAN Yantao, WANG Hongrui
Organization: School of Communication Engineering, Jilin University
Abstract: Problem of multi-objective path planning is investigated in this paper for the underactuated ball and plate system. A multi-objective path planning method based on combined entropy method and Djikstra algorithm is proposed. The multi-objective path planning method takes path length and hazards into acount based on uncertainty feature of the unconstrained mobile. As illustrated by simulation results, the path obtained by multi-objective method proposed in this paper can meet the path planning requirement of the unconstrained mobile.
Key words: control theory and control engineering; ball and plate system; multi-objective decision; path planning; entropy method
发表期数: 2009年10月第20期
引用格式: 郭锋,田彦涛,王红睿. 无约束运动体多目标路径规划[J]. 中国科技论文在线精品论文,2009,2(20):2099-2107.
 
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