| 移动机器人路径规划技术的现状与发展 |
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| 引用本文： | 徐秀娜,赖汝.移动机器人路径规划技术的现状与发展[J].计算机仿真,2006,23(10):1-4,52. |
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| 作者姓名： | 徐秀娜 赖汝 |
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| 作者单位： | 北京理工大学自动控制系,北京,100081 |
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| 摘 要： | 移动机器人技术是近年来的研究热点，路径规划技术是移动机器人技术研究中的一个重要领域。路径规划分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。该文详细地叙述了移动机器人路径规划技术的分类和发展现状，全局路径规划和局部路径规划中的各种方法，具体地分析了各种方法的算法过程，并指出了各种方法的优缺点，以及各种方法的改进的办法，最后对移动机器人路径规划技术的未来的发展趋势进行了展望。
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| 关 键 词： | 移动机器人 路径规划 遗传算法 避障 |
| 文章编号： | 1006-9348（2006）10-0001-04 |
| 收稿时间： | 2005-08-18 |
| 修稿时间： | 2005-08-18 |
Present Situation and Future Develepment of Mobile Robot Path Planning Technology |
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| XU Xiu-na,LAI Ru.Present Situation and Future Develepment of Mobile Robot Path Planning Technology[J].Computer Simulation,2006,23(10):1-4,52. |
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| Authors: | XU Xiu-na LAI Ru |
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| Affiliation: | Dept. of Automatic Control, Beijing Institute of Technology, Beijing 100081 ,China |
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| Abstract: | The research of mobile robot technology is the hot topic recently. Mobile robot path planning technology is one of the important domains in mobile robot technologies' research. It includes two parts: one is global path planning based on model in which the environment of the robot is certain and the other is local path planning based on sensor in which the environment of the robot is uncertain. The classification and present situation of mobile robot is summarized. In addition, the advantages and disadvantages of these algorithms are pointed out, and also the algorithms is improved. At last, the trend of mobile robot path planning is described. |
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| Keywords: | Mobile robot Path planning Genetic algorithm Obstacle avoidance |
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