高技术通讯2011，Vol.21Issue(8)：855-860,6.DOI:10.3772/j.issn.1002-0470.2011.08.014
基于几何方法的智能轮椅开门任务的路径规划
Path planning of opening door for intelligent wheelchairs based-on geometric method
摘要
Abstract
The paper studies the control of the opening door activies of an intelligent wheelchair with a mounted robotic arm, and presents an optional criterion function and proposes a path planning algorithm based on the geometric method for the opening task. Based on the analysis of the geometric relationship of the opening door activities, the method solves the motion trajectory of the intelligent wheelchair by using the simulated annealing algorithm in combination with wheelchairs ' kinematic model and optional criterion function. Then, the motion trajectory of manipulator is solved based on the geometric method. The experimental results show the system's good performances.关键词
智能轮椅/几何方法/路径规划/准则函数Key words
intelligent wheelchair/geometric method/path planning/criterion function引用本文复制引用
朱智平,叶爱学,温丰,董小明,邹伟,原魁..基于几何方法的智能轮椅开门任务的路径规划[J].高技术通讯,2011,21(8):855-860,6.基金项目
863计划项目(2006AA040202-02,2008 AA040204)和国家自然科学基金(60705026,60875051)资助项目. （2006AA040202-02,2008 AA040204）
