A Method Research Of Trajectory Planning Basee On Environmental Restraint & Task Urgency For Robots

The walking path planning is the important research direction of robots' domain. The traditional central decision architecture and the action comprehension architecture are suitable for the environment known or unknown separately. Moreover, the base of forming the action or the strict degree is clearly difference, but they are neither separated from the results of walking trajectory. That is, walking trajectory planning constitutes the main functional module of current most typical robot genres, simultaneously, it is also wishes to make two academic genres that are opposed nearly merged into one organic gradually.In this paper, the author analyzes briefly about that in the period of robots' missions , the vicissitude of environment, the known degree of regions and the grade variation of robots walking deviation, illustrates the actual value of using action element concept in path planning, discusses about the problems of using action element in multilevel planning and brings out the corresponding solution. After analyzing the basic characteristic of the experimental system, the frame construction and every module's function partitions, brings forward the technical route and implementation strategy according with practical application and the feasibility. The experimental system performs the path planning at physical level based on link knowledge of the environmental regions, gets usable path under the chosen estimating criteria, and enforces path optimization based on simplicity of driving. Then, the trajectory planning refers to the vehicle characteristic and the task accomplishment satisfaction, may substitute interpolation walking segments for inconsequent or unimplemented ones, establishes walking path in accordance with safety and rapidity, submits the result to the monitoring module.First of all, the paper discusses the robot walking trajectory planning's status and the function in the process of mission, with the robot movement characteristic, elaborates the experimental system architecture and the relations between walking trajectory planning and the other different planning level. Secondly, comprehensive introduces the path examination systematically according to the robot's kinematics, dynamics model and the safety index, after the monitoring movements optimizing, path section interpolation for anti-passing through or anti-arriving, causes the monitoring guidance and walking servo obtain the information and parameter that may guide the walking directly. Simultaneously, it also discusses the building of environmental model, the robot modeling, the spatial level planning and the information transmission ways between different unit-modules slight systematically in the construction of the experimental system and so on related questions. Finally, this paper unifies each kind design of data construction, gives the results of the system running and testing, pointes out the limitation and insufficiency which is still included, puts forward the further working plan and striving direction under the subject's development trend.