摘要
针对未知环境中移动机器人自主探测的效率问题,提出了一种拓扑结合几何的自主探测算法.以保证机器人安全为前提,在拓扑和几何两个层面上选择机器人的观测点,从而达到提高探测效率的目的.为了对观测点进行评估,提出了一种新颖的路径规划高效算法.仿真实验结果表明,该算法不仅显著提高了未知环境下机器人自主探测的效率,而且具有很高的计算实时性.
In order to improve the efficiency of mobile robot's autonomous exploration in unknown environments, ensuring the safety of the robot, a topological-metric based autonomous exploration algorithm was presented. Observing points are decided on the two levels of topology and metric. A novel and efficient path planning algorithm was used to evaluate the observing points. Some popular algorithms were compared with the presented algorithm by simulation experiments. The experimental results show that the algorithm not only can significantly improve the efficiency of autonomous exploration in unknown environments, but also is efficient for real-time computing and suitable for practical application.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第6期936-940,共5页
Journal of Shanghai Jiaotong University
关键词
机器人
移动机器人
自主探测
路径规划
robots
mobile robot
autonomous exploration
path planning
