月球車路徑規(guī)劃方法的初步研究.pdf

1、哈爾濱工業(yè)大學碩士學位論文月球車路徑規(guī)劃方法的初步研究姓名：張建英申請學位級別：碩士專業(yè)：飛行器設計指導教師：劉暾20050101墮查鎏三些奎蘭三耋堡圭蘭絲蘭蘭AbstractPathplanningisoneofthemostimportanttasksinthenavigationsystemoftherobot(1unarrover)，globalpathplanningisanimportantsubjectoftheresea

2、rchfieldofthemovingrobot，hasimportantmeaningtoitsresearch、Themainworkofthispaperishowtofindacollision—freepathfromstartingpointtoterminalpointOnthebasisofsummarizingalreadyexistingmethodsofpathplanning，thispaperconsultst

3、henewestachievementsofpaththeplanningresearch，theauthorhascarriedonthefollowingjobs：Firstly，thispaperusesthreekindsofpathpanningtocarry01]thetwo—dimensionalpathpanningemulation1ArtificialpotentialfieldalgorithmArtificial

4、potentialfieldalgorithmisonethatregardstheenvironmentofthelunarroverasgravitationandrepulsionfieldRepulsionpoleisconsideredtheareawherethelunarrovernothopetoenterandthebarrier，andgravitationpoleisconsideredthegoalandthea

5、reawherethelunarroverentersWiththecommonactofgravitationfieldproducedbythegoal’SlocationandofrepulsionfieldaroundthebarrierthelunarrovergoesaheadtowardsthegoaI，Thispaperusesthemethodofimprovedpotentialfieldfunctionandadd

6、itionalcontrolforcetoeliminatepartialminimumpointsandunreachableproblems2PotentialfieldgridalgorithmGridsexpressenvironmentThelunarroverinpotentialfieldinthiscaseiseffectedonlybytherepulsionofthebarriers，thegravitational

7、forceofthegoaltOthelunarroverisaddedtoheuristicfunctioninordertoavoidtheproblemofpartialminimumsintheoriginalpotentialfieldalgorithm3NeuralnetworkalgorithmThestraightlineisproducedbyconnectingfromthestartingpositiontothe

8、goaloneThearrayofequallyspacedpointsinthelineistakenasoriginalpathpointsTheseriesofpathpointsareplannedbyneuralnetwork，Accordingtotherelationshipofpathpointsandbarrierswecanchoosedifferentmotionequationsandmakethemgoahea

9、dtowardsdecreasingthetotalenergyThegoalistomakethelengthofthewholepathshortandbefarawayfromthebarriersasmuchaspossibleatthesamotimeThispaperalsousesdecreaseddimensionalmethodandtwo—dimensionalpathplanapproachtodealwithth