摘要
针对移动机器人路径规划的人工神经网络算法所存在的问题 ,提出应用局部路径修正和路径“张紧”法加以改进 ,以便适应多个障碍物的不同要求 ,在复杂环境下实现规划路径最优化 ,并证验其有效性。实践表明 ,应用该方法改进的新算法效果十分显著 ,能够确保路径无碰撞 ,计算速度远高于原算法 ,快速得到最优化路径 ,并使路径长度有一定程度的缩短。在保证路径平滑性和兼顾快速性的前提下 ,解决了碰撞和路径最短问题 ,有效地实现了路径规划最优化。
Aiming at the problem of path planning algorithm for a mobile robot based on artificial neural network, in this paper we use the method of revising path partially and path tension to fulfill the optimal path, so as to fit to different interference degree of the path with every obstacles and be able to get optimal path in all of complex environments. Its efficiency is given by emulating experiments.Under the premise of consideration to both of smoothness and rapidity,it may be used to fulfill the optimization of planning path effectively.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第6期685-687,共3页
China Mechanical Engineering
