%0 Journal Article
%T A METHOD FOR PLANNING THE PATH OF MOBILE ROBOT MOVING ON GENERAL TERRAIN<br>自然地形环境下移动机器人的一种路径规划方法
%A Wang Hong
%A Wang Xuefu
%A Zhang Bo
%A Sun Jiaguang
%A <br>王宏
%A 王学福
%A 张钹
%A 孙家广
%J 软件学报
%D 1995
%I 
%X In this paper,a new method is presented for planning the motion of a mobile robot moving on general terrains.The terrains are represented by NURBS surfaces and the terrains with obstacles or collisional regions are represented by Trimmed NURBS surfaces. The concept of a geodesic and its computation method, as well as A* search algorithm are used to obtain the path of shortest distance and time optimal path between given any two given points on general terrains.It considers robot vehicle dynamics,terrain topography and surface features.The paths are represented by NURBS curves.The adaptability and efficiency of this method are shown by experimental results.
%K Robot
%K path planning*
%K artificial intelligence
%K spline function<br>机器人，路径规划*，人工智能，样条函数
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=7735F413D429542E610B3D6AC0D5EC59&aid=ACE9F5626D87BCEEAE935EF29E4273E4&yid=BBCD5003575B2B5F&vid=B31275AF3241DB2D&iid=38B194292C032A66&sid=DABEF202280E7EF1&eid=4609832E4B5C797B&journal_id=1000-9825&journal_name=软件学报&referenced_num=3&reference_num=20