摘要
路径规划是机器人控制技术研究中的一个重要问题。路径规划方法可分为全局法和局部法两种。首先分析了传统的全局路径规划方法的缺点,提出了移动机器人全局路径规划的一种新方法,即盲人摸路算法。然后给出了算法的详细描述过程并证明了算法的收敛性。与传统的全局路径规划方法相比,在进行路径规划之前,不需要对障碍环境进行特殊的简化处理。算法理论浅显,计算简单,信息存储量小,能够快速搜索出无碰路径。通过大量数值算例说明了算法的正确性和有效性。
Path planning is a critical problem in the area of robot control technique. The types of path planning methods can be classified as global and local. The limitations of classic global path planning methods were analyzed. A new algorithm--the Blind Groping algorithm--for mobile robots collision avoidance planning is provided. A detailed account of the algorithm process is given and a proof has been presented for the convergence. Compared with the classical global path planning methods, the obstacle environment does not need to be simplified before planning. The theory of this algorithm is simple, and the calculation is easy. It only needs a small storage of information. A free path can be found out quickly. At last, some numerical experiment results have justified and validated the algorithm.
出处
《计算机仿真》
CSCD
北大核心
2010年第5期157-161,共5页
Computer Simulation
基金
国家自然科学基金资助项目(10201026
10672111)
关键词
移动机器人
全局路径规划
盲人摸路算法
Mobile robot
Global path planning
The blind groping algorithm
