| 摘要: |
| 本文针对机器人在实际环境中执行任务时所面临的不确定性和实时性提出了一种基于反射的规划方法．该方法在较好地利用全局信息的基础上，充分发挥出机器人自身的能动的反射作用．我们首先讨论该方法的基本原理，然后着重讨论它在移动机器人规划和导航中的应用． |
| 关键词: 基于反射的规划，反射方式，声纳划分线，势场法 |
| DOI： |
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| REACTION-BASED PLANNING |
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Li Yongcheng,Zhang Bo
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| Abstract: |
| In this paper, a reaction based planning method is presented for robot to carry out the task in a real world in the presence of uncertainty and in need of urgency. The method uses the global information to guide the robot's local reaction. The basic principle and the application of the method to the planning and navigation of mobile robot are discussed. |
| Key words: Reaction-based planning, reaction mode, sonar-partition line, potential field method. |
