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基于目前新近提出的离散机械最优控制(Discrete Mechanics and Optimal Control)算法针对水下机器人的路径规划进行了仿真研究,设计的轨迹的轨迹经仿真实验能够按照能量或者最优的路径对设定的障碍进行有效避让。证明此算法能够有较强的实用性。同时文章涉及的理论算法为进一应用到其它类似机械装置,比如无人飞行器,机器人的路径规划与控制提供了一种新的方法思路。
Based on the newly proposed Discrete Mechanics and Optimal Control algorithm, the path planning of underwater robots is simulated and the trajectory of the designed trajectory can be simulated by simulation according to the energy or the optimal path Obstacles to effectively avoid. Prove this algorithm can have strong practicality. At the same time, the theoretical algorithms involved in the article provide a new way of thinking for further application to other similar mechanical devices, such as UAV, robot path planning and control.