摘要
提出了用于移动机器人完全遍历运动规划的基于改进的Node Counting在线图搜索方法。通过扩大遍历时的局部搜索空间,加快了对移动机器人工作空间的搜索。该方法的搜索效率明显优于Node Counting。给出了仿真系统主要模块的设计,并采用Java语言编制相应的仿真程序。仿真实验表明:基于改进的Node Counting在线图搜索具有良好的遍历性能,同时在遭到机器人被"绑架"或信息素被破坏等情况时,算法仍具有较好的鲁棒性。
An online graph search approach based on an improved Node Counting is presented for the complete terrain coverage motion planning of mobile robots. The proposed method speeds up the search in the work space of a mobile robot by enlarging the local search space. The search efficiency of the proposed method is superior to the one of the Node Counting. The design procedures of the main modules of the simulation system are given, and it is implemented using Java language. Simulations show that the pro- posed method has an obviously better performance,and it still has good robustness if the robot is kidnapped or the pheromones are erased.
出处
《华东理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2007年第4期551-557,共7页
Journal of East China University of Science and Technology
基金
国家自然科学基金资助项目(60675043)
浙江省自然科学基金资助项目(Y104560)
杭州电子科技大学科研启动基金资助项目(KYS09150543)
