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基于改进势场栅格法的移动机器人路径规划
引用本文:杨杰,贺利乐,李荣丽,仪怀亮.基于改进势场栅格法的移动机器人路径规划[J].煤矿机械,2012,33(8):74-76.
作者姓名:杨杰  贺利乐  李荣丽  仪怀亮
作者单位:西安建筑科技大学机电工程学院,西安,710055
摘    要:路径规划是移动机器人的核心问题之一。以势场栅格法为前提,在首次得到安全路径的基础上,去掉无效栅格,将剩余栅格长度等比递减,再次以同样方法规划路径。通过对移动机器人在不同环境下的改进前后的2次路径规划结果进行比较知,采用改进后的势场栅格法所得到的路径,距离更短且安全有效。

关 键 词:移动机器人  路径规划  势场栅格法  等比递减

Path Planning for Robot Based on Improved Potential Grid
YANG Jie , HE Li-le , LI Rong-li , YI Huai-liang.Path Planning for Robot Based on Improved Potential Grid[J].Coal Mine Machinery,2012,33(8):74-76.
Authors:YANG Jie  HE Li-le  LI Rong-li  YI Huai-liang
Affiliation:(School of Mechanical and Electrical Engineering,Xi’an University of Architecture and Technology,Xi’an 710055,China)
Abstract:Path planning is one of the robot core problems.On premise of potential grid method,invalid grid was removed based on first safety path,then used isocon descending strategy of grid length,meanwhile new path was planned with same method.The two paths unimproved and improved were compared,and the result showed that path improved had a shorter distance and was safe and effective.
Keywords:mobile robot  path planning  potential grid method  isocon descending
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