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| 基于方向选择的移动机器人路径规划方法 | |
| 引用本文： | 吴铮,陈彦杰,何炳蔚,林立雄,王耀南. 基于方向选择的移动机器人路径规划方法[J]. 计算机集成制造系统, 2021, 27(3): 672-682. DOI: 10.13196/j.cims.2021.03.002 |
| 作者姓名： | 吴铮 陈彦杰 何炳蔚 林立雄 王耀南 |
| 作者单位： | 福州大学 机械工程与自动化学院,福建 福州 350108;福州大学 机械工程与自动化学院,福建 福州 350108;机器人视觉感知与控制技术国家工程实验室,湖南 长沙 410082;湖南大学 电气与信息工程学院,湖南 长沙 410082;机器人视觉感知与控制技术国家工程实验室,湖南 长沙 410082 |
| 基金项目： | 国家自然科学基金资助项目;福建省自然科学基金资助项目 |
| 摘 要： | 针对快速行进树算法(FMT*)在逐层递归扩展中产生的冗余探索问题,提出一种基于方向选择的快速行进树算法(DS-FMT*).该算法首先对拟扩展样本的四周产生均匀分布的方向选择线,判断周围的障碍物情况并选择有利于扩展的方向作为候选探索方向.随后将拟扩展到下一样本的实际探索方向与候选探索方向做比对,若实际探索方向与候选探索方... |
| 关 键 词： | 路径规划 启发式策略 方向选择 移动机器人 计算效率 |
Direction selection-based algorithm for mobile robot path planning |
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| WU Zheng,CHEN Yanjie,HE Bingwei,LIN Lixiong,WANG Yaonan. Direction selection-based algorithm for mobile robot path planning[J]. Computer Integrated Manufacturing Systems, 2021, 27(3): 672-682. DOI: 10.13196/j.cims.2021.03.002 | |
| Authors: | WU Zheng CHEN Yanjie HE Bingwei LIN Lixiong WANG Yaonan |
| Affiliation: | (School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;College of Electrical and Information Engineering,Hunan University,Changsha 410082,China;National Engineering Laboratory for Robot Visual Perception and Control Technology,Changsha 410082,China) |
| Abstract: | To solve the problem of redundant exploration in the recursive expansion of the Fast Marching Tree algorithm(FMT*),a Direction Selection-based FMT*algorithm(DS-FMT*)was proposed.The algorithm generated a uniform distribution of direction selection lines around the extended sample to judge the surrounding obstacles and select the direction favorable for expansion as the candidate exploration direction.Then,the actual exploration direction of the sample to be expanded to the next sample was compared with the candidate exploration direction.If the angle between the actual exploration direction and the candidate exploration direction was consistent,the sample in this direction would be given priority.Meanwhile,combined with the cost comparison of samples,the recursive expansion process of FMT*was improved to reduce the computational complexity.The proposed DS-FMT*algorithm was compared with other advanced similar algorithms,which proved that DS-FMT*could improve the planning efficiency while ensuring the good-quality of the path.Besides,the effectiveness of the proposed algorithm was verified by practical application experiments of mobile robot path planning. |
| Keywords: | path planning heuristic strategy direction selection mobile robots computational efficiency |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |