基于环境分层方法的双足机器人路径规划研究

摘要

为了实现双足机器人在障碍环境中的路径规划,提出一种将三维环境分层的方法,用两个截面将环境分为高于机器人身高障碍层、低于机器人抬脚高度障碍层和中间障碍层.首先在中间障碍层进行机器人轨迹规划,再根据机器人各种步态的不同损耗构建代价函数,把规划好的轨迹放到最底层进行规划修改,最终得到双足机器人在规划路径上代价最小的一系列连续的动作,通过计算机仿真实验验证了方法的有效性.%In order to achieve path planning among obstacles environment for biped robot, this paper proposed a method that divided the three-dimension environment into three parts: the obstacles layer above robot' s height, the obstacles layer below robot ' s moving foot height, and the middle obstacles layer between the above two sections. First of all, make trajectory planning in the middle obstacles layer, and structure cost function based on the different transfer of losses due to the different gait, then placed the middle-tier planning trajectory on to the below layer for planning and modifying. Eventually, it got a series of continuous action of minimum cost for Biped Robots path planning. Computer simulation experiment shows that this method is effective.