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中文摘要：
针对复杂空间环境下进行遥操作的安全性问题，提出一种基于路径点的光滑虚拟管道快速生成算法，改进深度优先算法对虚拟管道进行静态规划，并给出动态修正算法，实现管道的动、静态避障。虚拟管道可为操作者提供视觉、触觉等反馈信息以调整自身操作。操作对象在管道内运动，能安全、快速地达到目标。相对于路径规划方式按指定轨迹避障，该方法提高了操作灵活性和效率。在CHAI3D仿真平台下进行多组避障实验，验证了算法的有效性。
英文摘要：
For the manipulation safety of teleoperation in complicated space environments, a fast generation algorithm for the smooth virtual tube is proposed based on the path points. An improved Depth-first Search algorithm of virtual tube＇ s static-planning and a dynamic amendment method are also presented, thus realizing tube＇ s avoidance of static and dynamic obstacles. Virtual tube can provide the feedback of vision and tactility for the operator to adjust its operation. By moving inside the tube, the manipulation objective can achieve the goal safely and swiftly. Compared with the methods of following the trajectory of path planning to avoid obstacle, the proposed method improve manipulation flexibility and efficiency. The effectiveness of the algorithms is demonstrated through several obstacle avoidance experiments by using CHAI 3D.
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