| 基于space-time的二叉树表示动态环境中的路径规划 |
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| 引用本文： | 唐平,何卓华,杨宜民.基于space-time的二叉树表示动态环境中的路径规划[J].计算机工程,2002(5). |
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| 作者姓名： | 唐平 何卓华 杨宜民 |
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| 作者单位： | 广东工业大学计算机学院 广州510090
(唐平，何卓华)，广东工业大学自动化学院 广州510090(杨宜民) |
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| 基金项目： | 广东省科技攻关项目(2KM00502G)，国家自然科学基金项目(69874024)，广东省教育厅自然科学基金资助项目 |
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| 摘 要： | 研究具有空间和时间的三维动态环境下的机器人路径规划分析了四叉树表示二维空间的搜索算法,在此基础上,提出采space-time,用二叉树表示二维空间的方法时间信息中增加加速度利用二叉树遍历方法和算法设计一个在动态障碍物环境下进行路径规划的新算法并,,A*,,在足球机器人系统中进行仿真,实现了较好的路径规划。
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| 关 键 词： | Space-time 二叉树 路径规划 |
A Robotic Path Planning in a Dynamic Environment Based on Space-times Bitree Representation |
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| TANG Ping,HE Zhuohua,YANG Yimin.A Robotic Path Planning in a Dynamic Environment Based on Space-times Bitree Representation[J].Computer Engineering,2002(5). |
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| Authors: | TANG Ping HE Zhuohua YANG Yimin |
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| Affiliation: | TANG Ping1,HE Zhuohua1,YANG Yimin 2 |
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| Abstract: | This paper deals with robotic path planning of a dynamic environment, which has the characteristics of both time and space. On the basis of the analysis of the searching algorithm in two dimensions on a quad-tree representation, an optimal new algorithm for path planning in moving obstacles is presented ,which is designed on the space-time of bi-tree representation and accelerate representation, and A* algorithm. The new algorithm results in effective obstacle avoidance in the soccer robot tournament. |
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| Keywords: | Space-time Bi-tree Path planning |
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