摘要
在自主车的运动路径规划中 ,局部路径规划特别重要 ,而且是自主车的一项关键技术。该文提出了将自主式多智能体的任务和反应性行为模型嵌入到离散事件系统框架中作局部路径规划的方法 ,此方法克服了势场法 (包括早期的虚力场法 )的缺陷。为确保自主车运动路径规划的可靠性和合理性 ,该文就局部路径规划对自主车作运动仿真。
Local trajectory planning is very important for an autonomous vehicle(ALV) in the moving planning of autonomous vehicles, and it is a key technology for an ALV. In this paper, we embed the problem of modeling tasks and reactive behaviors of autonomous agents into the discrete event system framework for local trajectory planning. This technique overcomes the defects of potential field methods (as well as early virtual force field methods). To ensure the reliability and rationality of trajectory planning for an ALV, we make moving simulation for an ALV as for local trajectory planning.
出处
《计算机仿真》
CSCD
2001年第3期7-10,共4页
Computer Simulation
基金
国防科工委"九.五"重大项目!"智能机器人"(No .G19980 30 6 0 0 )资金资助
关键词
自主车
多智能体
机器人
路径规划
运动仿真
Autonomous land vehicles Local trajectories planning Discrete event system Multi-agent
