| 基于栅格法的机器人路径规划快速搜索随机树算法 |
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| 引用本文： | 国海涛,朱庆保,徐守江.基于栅格法的机器人路径规划快速搜索随机树算法[J].南京师范大学学报,2007,7(2):58-61. |
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| 作者姓名： | 国海涛 朱庆保 徐守江 |
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| 作者单位： | 南京师范大学数学与计算机科学学院 江苏南京210097 |
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| 基金项目： | 国家自然科学基金(60673102)，江苏省自然科学基金(BK2006218)资助项目 |
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| 摘 要： | 针对复杂环境下的机器人路径规划问题，提出了一种全新的基于栅格法的机器人路径规划快速搜索随机树算法。以机器人出发点为随机树的根节点，通过扩展，逐渐增加叶节点直至随机树的叶节点中包含了目标点。从出发点到目标点之间的一条以随机树的边组成的路径就是目标路径。研究表明在同样的环境下与遗传算法、A^＊算法相比该方法能在更短的时间内找到更优的路径。仿真实验也表明，即使在随机生成的复杂环境下，利用该算法也可以快速规划出一条全局优化路径，且能安全避障。
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| 关 键 词： | 机器人 路径规划 快速搜索随机树 栅格法 |
| 文章编号： | 1672-1292（2007）02-0058-04 |
| 修稿时间： | 2006-10-10 |
Rapid-Exploring Random Tree Algorithm for Path Planning of Robot Based on Grid Method |
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| Guo Haitao,Zhu Qingbao,Xu Shoujiang.Rapid-Exploring Random Tree Algorithm for Path Planning of Robot Based on Grid Method[J].Journal of Nanjing Nor Univ: Eng and Technol,2007,7(2):58-61. |
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| Authors: | Guo Haitao Zhu Qingbao Xu Shoujiang |
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| Affiliation: | School of Mathematics and Computer Science, Nanjing Normal University, Nanjing 210097, China |
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| Abstract: | A new rapid-exploring random tree algorithm for path planning of robot based on grid method is proposed to plan an optimal path for mobile robot in complex environment.The algorithm explores the space and add a new node to a random tree in which that root node is the position of robot until the leaf node of the tree contains the goal node.The path composed from the edges of the initial node to the goal node is where the robot walk by.It is tested that the proposed algorithm is more effective than GA and A* under the same environment.The simulation results illustrate that the proposed algorithm can be used to solve the path planning for mobile robot even in the random complex environment the robot can avoid the obstacles safely by the path gained by the new algorithm. |
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| Keywords: | robot path planning rapidly-exploring random tree grid method |
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