| 障碍物空间中汽车式移动机器人路径规划方法 |
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| 引用本文： | 贾艳华,梅凤翔.障碍物空间中汽车式移动机器人路径规划方法[J].北京理工大学学报(英文版),2002,11(2):208-211. |
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| 作者姓名： | 贾艳华 梅凤翔 |
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| 作者单位： | 北京理工大学,应用力学系,北京,100081 |
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| 基金项目： | 国家自然科学基金，高等学校博士学科点专项科研项目 |
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| 摘 要： | 研究障碍物空间中汽车式移动机器人路径规划问题,使用简单的启发式搜索方法为受非完整约束且转弯半径受限的汽车式移动机器人规划近优路径,最小长度可行路径被选择作为启发函数.仿真结果证明了此方法对障碍物空间中汽车式移动机器人路径规划的有效性.
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| 关 键 词： | 位形空间 汽车式移动机器人 路径规划 非完整约束 |
| 收稿时间： | 2001/9/18 0:00:00 |
Simple Path Planning for Mobile Robots in the Present of Obstacles |
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| JIA Yan hua and MEI Feng xiang.Simple Path Planning for Mobile Robots in the Present of Obstacles[J].Journal of Beijing Institute of Technology,2002,11(2):208-211. |
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| Authors: | JIA Yan hua and MEI Feng xiang |
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| Affiliation: | Department of Applied Mechanics, Beijing Institute of Technology, Beijing100081, China;Department of Applied Mechanics, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | To obtain the near optimal path for the mobile robots in the present of the obstacles, where the robots are subject to both the nonholonomic constraints and the bound to the curvature of the path, a simple planning is applied by the heuristic searching method in which Reeds and Shepp's shortest paths are chosen as heuristic functions. It has performed well in simulation of mobile robots moving in a cluttered environment. |
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| Keywords: | configuration space car like mobile robots path planning nonholonomic constraints |
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