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| 基于元胞自动机的移动机器人路径规划 | |
| 引用本文： | 曾明如,王从庆,刘公法,刘亮. 基于元胞自动机的移动机器人路径规划[J]. 南昌大学学报(工科版), 2012, 34(3): 287-290 |
| 作者姓名： | 曾明如 王从庆 刘公法 刘亮 |
| 作者单位： | 南昌大学信息工程学院； 南京航空航天大学自动化学院 |
| 基金项目： | 国家863计划资助项目（2008AA01Z133） |
| 摘 要： | 为解决移动机器人全局最优路径规划存在的问题,提出了一种基于元胞自动机的路径规划算法。建立了移动机器人活动空间的环境模型,将移动机器人的起点、终点、障碍物及自由通路定义为一组离散的元胞,设计了元胞状态的演化规则,并且根据演化后的元胞状态确定了最优路径的搜索方法,并通过仿真实验验证了该算法在简单环境和复杂环境下都能够有效的进行路径规划,并且具有算法简单、速度快、效率高等特点。 |
| 关 键 词： | 移动机器人 路径规划 元胞自动机 环境建模 最优路径 |
Mobile Robot Path Planning Based on Cellular Automata |
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| ZENG Ming-ru , WANG Cong-qing , LIU Gong-fa , LIU Liang. Mobile Robot Path Planning Based on Cellular Automata[J]. Journal of Nanchang University(Engineering & Technology Edition), 2012, 34(3): 287-290 | |
| Authors: | ZENG Ming-ru WANG Cong-qing LIU Gong-fa LIU Liang |
| Affiliation: | 1.School of Information Engineering,Nanchang University,Nanchang 330031,China;(2.School of Automation Engineering,University of Aeronautics and Astronautics,Nanjing 210016,China) |
| Abstract: | In order to solve the existence question of the global optimal path planning for mobile robots,one kind of the path planning algorithm was proposed based on the cellular automaton.Firstly,the mobile robot space environment was established,mobile robot start,end,obstacles and free path was defined as a set of discrete cellular.Secondly,a cellular state evolution a rule was designed,the optimal path search method was determined according to the evolution of cellular state.Finally,the simulation experiments showed that the algorithm could be effective for path planning in the simple and complex environment.The algorithm was simple,fast,high and efficiency. |
| Keywords: | mobile robot path planning cellular automata environment modeling optimal path |
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