移动机器人的发展现状及其趋势

20013《》·7·◆—、,。。60,。,,,、、,,。,,。,,,,,,。,、、。,,,、、,。、,、、(、)。、,。1.1.1室外几种典型应用移动机器人:“20,21,2000,”。,80,(DARPA),。,,DARPA“”(ALV)(1983—1990),10(RIPS)(1986—1995),;;。,,。80,,,,,。90,,,,。NASA“II”,。,NavLab,1994,,、,,,。,。。NASA1997,。,,Rocky7,Lavic。,1998。、,36,。。20013《》·8·,,,,,,。。1.2高完整性机器人100%。。,,。,,,。1.3遥控移动机器人。,,。,,。。,。、。,,。。1.4环境与移动机器人集成H.Ishiguro,。,:。、,,。,。1/12,,,,,16,。1.5生态机器人学(生物机器人学)。,:◇,。◇。◇,,。◇。◇,。,,。1.6多机器人系统DARPA,4,1998。:。:、。、、。,,,,、,。,,,,,。,。MDARSRO-BART,。。,,,。。FETCHBUGS,、M42。,,。,,,。。20013《》·9·,50,,,。,,。:,,,,;,,。———、、、。,。:,,。Khatib,、,。1996,,,,。,、、、,。2.,,:1994。:(、、);(“”、“”、);(、、);、(、、、、);(THMR—III、、)。、。AGV。、。1996。。、,:“,”,,,:、、、、、,;,:,,:、。,。,、、。、。(),,,。,;,、,、。1.,。,,。,、、、、。20013《》·10·,、,,,,,NASA,、,。,,。2.:,,,。,、,,,,,。,,,。,,“”。AGV。KAMRO,NASREM。MITBrooks,。“—”,。,。,AI。,,。,,,,,。3.。,。,,,。,1970,。,。D.Henrich,。、,。,,。,,。,,。,。,,,。4.,。,:。7:、、、,,。,。,。:、、,。,。。。:。,。,,,。,。20013《》·11·,:。:,。,,。。,,。。,。:。,。,。,。。。,,。,,。,。,,。,20,。,,,。。:,。,:(1),;(2);(3)(),。:。(,,),。,。,,,,。,。,。,,。,,。。。。:◇,,。◇,,,。◇。◇。,。◇,。,。◇,,;,,。,。◇。◇,。,。,。◇。◇,。:,,。,。,。CAD,。,20013《》·12·。,,。、、。96,。。,。,:;,,(,,),。:,。,,,,,。,,,,:,,,,。,,;MUSIC;;-;。,,、。:,。,。,。W.K.Leow,、,。PreissKramer,BelangerWillis,WillisArbas。5.,。。,,,(,)。—,;,。,,,。,,,,,。,。,。。6.。:。,。()。,。,,。,,。,、。,,,。7.、。,。,。。8.,。:(1);(2):(3)20013《》·13·;(4),;(5),,。,、、、、、、、,,。,。、、、。9.,,,。。,,:。;,,,(、、)。,。,,。,。,。、、、、、、,、、。、、、、。、,,,,,,,———。,:◇:,,、、,,,。◇:,,,,。◇:,。◇:。,,。,,。,,。◇:,,。,,,。◇:,。,,。,。,,,。,。、、。。、,。,,:1.;2.。,:、、、。,、,,,。,。20013《》·14·◆1,、、,、、,、,。,,。,[Abstract]Thispaperpresentsanewalgorithmbasedtheassignmentplanningofaboomtoplanassignmentsequenceofthetwoboommulti-jointrobot.Wehaveintroducedthedirectionofthemovementofrobotjointasnumericalvaluetocountadaptationfunctionforassignmentplanningofaboom,andthenchangetheplanningofaboomwithshift-looptomaketheassignmentsequencewith-outintermeddle.Atthesametime,wemaketheassignmentofthepartshipoperationregionoftowboomasbalancingassignmenttoproducetheglobalassignmentplanning.[KeyWords]Thetwoboomtunnel-drillingrobot,geneticalgorithm,boreplanning[],,,,、。[];;;。,、。:◇:,、、,,,,。◇:,,。,,,。◇:、、、。。◇:,,、、、。,。,。,,;,。,-。,,。。,。,,。,,。,、,。□