| 未知环境下改进的基于RRT算法的移动机器人路径规划 |
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| 引用本文： | 康亮,赵春霞,郭剑辉.未知环境下改进的基于RRT算法的移动机器人路径规划[J].模式识别与人工智能,2009,22(3). |
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| 作者姓名： | 康亮 赵春霞 郭剑辉 |
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| 作者单位： | 南京理工大学,计算机科学与技术学院,南京,210094 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 方法的有效性.
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| 关 键 词： | 移动机器人 路径规划 滚动规划 快速扩展随机树(RRT) |
Improved Path Planning Based on Rapidly-Exploring Random Tree for Mobile Robot in Unknown Environment |
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| KANG Liang,ZHAO Chun-Xia,GUO Jian-Hui.Improved Path Planning Based on Rapidly-Exploring Random Tree for Mobile Robot in Unknown Environment[J].Pattern Recognition and Artificial Intelligence,2009,22(3). |
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| Authors: | KANG Liang ZHAO Chun-Xia GUO Jian-Hui |
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| Affiliation: | KANG Liang,ZHAO Chun-Xia,GUO Jian-Hui (College of Computer Science and Technology,Nanjing University of Science and Technology,Nanjing 210094) |
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| Abstract: | An improved path planning algorithm is proposed by combining rapidly-exploring random tree (RRT) and rolling path planning.In this algorithm,the real-time local environment information detected by the robot is fully used and the on-line planning is performed in a rolling style.Therefore,the RRT algorithm can be used in both known and unknown environment.Only the local environmental map is calculated in the planning to improve the planning efficiency,and thus the planning in real time is guaranteed.The calcu... |
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| Keywords: | Mobile Robot Path Planning Rolling Plan Rapidly-Exploring Random Tree (RRT) |
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