基于任务分解的机器人路径规划导航

摘要

介绍一种基于目标分解的机器人导航系统，机器人通过激光或声纳传感器获得地图信息，并以此为基础，系统控制机器人按照事先规划路径的分解任务导航，最终利用视觉传感器发现目标球并加以捕获。分析仿真和实际环境实验数据存在差异的原因，证明系统实现了预期目标。%This paper presents a robotic navigation system based on work breakdown structure , in which Pioneer II-Dx robot gets data from laser and sonar sensors .Through calculating it , the system controls the robot to move along the planning path , in the end, to find and catch the ball .By analyzing why there is some difference in the data from simulator and real environment , it proves that this system can make robot complete its tasks .