摘要
提出一种分步路径规划方法 ,首先采用链接图建立机器人工作空间模型 ,用Dijkstra算法求得链接图最短路径 ;然后用粒子群算法对此路径进行优化 ,得到全局最优路径 .仿真结果表明 :所提方法简便可行 ,能够满足移动机器人导航的高实时性要求 。
This paper presents a novel path planning approach , in which the MAKLINK graph is built to describe the working space of the mobile robot, the Dijkstra algorithm is used to obtain the shortest path from the start point to the goal point in the graph, and the particle swarm optimization algorithm is adopted to get the best path. Simulation results show that the proposed method is effective and can meet the real-time demands of mobile robot navigation.
出处
《机器人》
EI
CSCD
北大核心
2004年第3期222-225,共4页
Robot
