But there still exists several problems in the process of calculation, and becomes technique obstructers that puzzle the engineers for a long time 然而,在尺寸链计算过程中有几个自今都没有解决的问题,成为长期困扰设计人员的技术难题。
The validation of the arithmetic is re-proved by the experiments on the wheel robot with ultrasonic wave sensors in different surrounding with varied obstructers 最后通过基于超声传感器的轮式机器人在不同类型障碍物环境下的避障实验,验证了路径规划方法的有效性。
The collision-avoid path planning is designed based on the different and varied blocks and the matters which would be when working . for convex obstructer, a beeline judgment is design to solve “ z ” path problem, for concave obstructer, a new method is put forward to avoid endless loop 对于凸形障碍物,设计了对直线判断的方法,解决了“之”字形路线问题;对于凹形障碍物,提出了一种新方法解决“死循环”问题。
The collision-avoid path planning is designed based on the different and varied blocks and the matters which would be when working . for convex obstructer, a beeline judgment is design to solve “ z ” path problem, for concave obstructer, a new method is put forward to avoid endless loop 对于凸形障碍物,设计了对直线判断的方法,解决了“之”字形路线问题;对于凹形障碍物,提出了一种新方法解决“死循环”问题。