唐丽娜,李琳,宿浩,郭忠文

• 1:中国海洋大学图书馆
• 2:中国海洋大学信息科学与工程学院

摘要(Abstract)：

研究移动机器人在狭窄通道环境下的定位和路径规划问题。首先,根据在书架和图书上预置的射频识别(RFID)标签,利用RFID技术提出了确定书库管理机器人位置和姿态的方法。然后,根据书库的书架间通道狭窄的特点,将书库管理机器人的行驶状态分解为匀速直线运动和原地匀速旋转运动,并给出了机器人匀速直线运动和原地匀速旋转运动的用时模型。最后,提出一种书库管理机器人从任意起始位置和姿态到达任意目标位置的最小用时路径规划算法。仿真结果表明,本文提出的路径规划算法是有效的。

关键词(KeyWords)： 移动机器人;路径规划;狭窄通道;定位;时间最优;书库管理

Abstract:

Keywords:

基金项目(Foundation): 山东省自然科学基金项目(ZR2017QF017)资助~~

作者(Author): 唐丽娜,李琳,宿浩,郭忠文

DOI: 10.16441/j.cnki.hdxb.20180073

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