首页 | 本学科首页   官方微博 | 高级检索  
     

一种克服振荡与死循环的机器人实时路径规划方法
引用本文:张纯刚,席裕庚.一种克服振荡与死循环的机器人实时路径规划方法[J].自动化学报,2003,29(2):197-205.
作者姓名:张纯刚  席裕庚
作者单位:1.上海交通大学自动化研究所,上海
基金项目:SupportedbytheNational 973Plan (G19980 30 4 15 ),theNational 86 3Program (2 0 0 1AA4 2 2 14 0 ),andtheNationalNaturalScienceFoundationofP .R .China (6 99340 2 0 )
摘    要:本文研究了一般障碍环境下全局信息未知的机器人路径规划问题,分析了基于实时探 测信息的滚动路径规划算法可能遇到的振荡和死循环现象,提出了增加适量记忆的改进滚动路 径规划算法,不仅有效地克服了振荡和死循环的发生,而且保证了机器人对全局目标的可达性, 为移动机器人在一般未知障碍环境下的路径规划提供了快速、有效的方法.

关 键 词:机器人路径规划    滚动规划    局部规划    子目标    振荡    死循环    可达性
收稿时间:2001-11-5

A Real-Time Path Planning Method for Mobile Robot Avoiding Oscillation and Dead Circulation
ZHANG Chun-Gang,XI Yu-Geng.A Real-Time Path Planning Method for Mobile Robot Avoiding Oscillation and Dead Circulation[J].Acta Automatica Sinica,2003,29(2):197-205.
Authors:ZHANG Chun-Gang  XI Yu-Geng
Affiliation:1.Institute of Automation,Shanghai Jiaotong University,Shanghai
Abstract:Robot path planning in a globally unknown environment with general obstacles is studied in this paper. Oscillation and dead circulation possibly encountered in rolling path planning are studied. And an improved planning method is proposed by storing detected environmental information. The planning method could prevent mobile robot from oscillation and dead circulation efficiently and guarantee the accessibility to the global goal. It is a fast and effective path planning method for mobile robot in an unknown obstacle environment.
Keywords:Robot path planning  rolling planning  local planning  subgoal  oscillation  dead circulation  accessibility
本文献已被 CNKI 维普 万方数据 等数据库收录!
点击此处可从《自动化学报》浏览原始摘要信息
点击此处可从《自动化学报》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号