期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：4
页码：34
DOI：10.14313/JAMRIS_4-2013/35
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The paper presents a mo�on planning algorithm fora robot wal�ing on rough terrain. The mo�on�planer isbased on the improved RRT (Rapidly Exploring RandomTree���onnect algorithm. The �ar�cle �warm �p�mi�a��on (���� algorithm is proposed to solve a posture op��mi�a�on problem. The steepest descent method is usedto determine the posi�on of the robot�s feet during theswing phase. The gradient descent method is used forsmoothing the �nal path. The proper�es of the mo�onplanning algorithm are presented in four cases� mo�onplanning over a bump, concavity, step and rough terrainmoc�up. The maximal si�es of par�cular obstacle typestraversable by the �essor robot with the new, op�mi�edmo�on plan are given.
