| 基于门墙栅格地图模型的有约束路径规划研究 |
| |
| 引用本文： | 罗其俊,李志恒,李元朋,高庆吉.基于门墙栅格地图模型的有约束路径规划研究[J].计算机与现代化,2010(5):180-183,188. |
| |
| 作者姓名： | 罗其俊 李志恒 李元朋 高庆吉 |
| |
| 作者单位： | 1. 中国民航大学航空自动化学院,天津,300300
2. 东北电力大学自动化工程学院,吉林,吉林,132012 |
| |
| 基金项目： | 中国民航大学校级科研基金资助项目(08CAUC-E07) |
| |
| 摘 要： | 公共环境下运行的服务机器人需要选择路段的单侧行驶，以实现人机环境和谐。提出的门墙栅格地图模型由传统栅格地图模型中加入门栅格、墙栅格和中线栅格形成，门栅格只能向规定栅格扩展，墙栅格不能向任何栅格扩展，中线栅格标记路段的中线位置。基于该模型采用常规路径规划算法即可实现机器人单侧通行。实验结果证明采用门墙栅格地图模型可使全局路径规划有效选择路段单侧。
|
| 关 键 词： | 服务机器人 门墙栅格地图模型 单侧约束 路径规划 |
Research on Path Planning with Single Side Constraint Based on Door and Wall Grid Map Model |
| |
| LUO Qi-jun,LI Zhi-heng,LI Yuan-peng,GAO Qing-ji.Research on Path Planning with Single Side Constraint Based on Door and Wall Grid Map Model[J].Computer and Modernization,2010(5):180-183,188. |
| |
| Authors: | LUO Qi-jun LI Zhi-heng LI Yuan-peng GAO Qing-ji |
| |
| Affiliation: | 1.College of Aeronautical Automation/a>;Civil Aviation University of China/a>;Tianjin 300300/a>;China/a>;2.College of Automation Engineering/a>;Northeast Dianli University/a>;Jilin 132012/a>;China |
| |
| Abstract: | Service robot which should run in public environment should select road's single side,while realizing harmony of human and robot.This paper designs door and wall grid map model,while this model is made of door grid,wall grid and midline grid,that is used to realize the restriction that the planned path must select the road's single side.Conventional grid map model is appended with door grid,wall gird and midline grid to make the door and wall gird map model.The cost that wall grid to other grid is infinite,... |
| |
| Keywords: | service robot door and wall grid map model single side constraint path planning |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
