| 未知环境下的自适应路径规划 |
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| 引用本文： | 倪斌,陈雄,袁杨.未知环境下的自适应路径规划[J].系统仿真技术,2005,1(2):98-103. |
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| 作者姓名： | 倪斌 陈雄 袁杨 |
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| 作者单位： | 复旦大学电子工程系智能控制实验室,上海,200433 |
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| 摘 要： | 对于未知环境下的路径规划,要求机器人有适应不同环境的能力,能针对不同环境自动调整规划算法以优化路径。本文在仔细分析了环境复杂度、步长和人工势场法之间的关系的基础上,提出了动态的步长调整算法,使机器人能根据环境复杂度,通过自动调节步长来优化路径。仿真结果证明了本方法的有效性。
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| 关 键 词： | 人工势场法 自适应路径规划 步长调整 |
Adaptive Path Planning in Unknown Environments |
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| NI Bin,CHEN Xiong,YUAN Yang.Adaptive Path Planning in Unknown Environments[J].System Simulation Technology,2005,1(2):98-103. |
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| Authors: | NI Bin CHEN Xiong YUAN Yang |
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| Abstract: | For path planning in the unknown environment, it is useful that the robot can modify its algorithm to optimize the path, so that it can be adaptive to different kinds of environments. Based on the analysis between Artificial Potential Field (APF), pace length and complexity of environment, this paper developed a dynamic algorithm of pace length. Therefore, the robot can modify its pace length according to the complexity of environment. |
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| Keywords: | APF adaptive path planning pace modify |
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