机器人滚动路径规划的算法与仿真研究

借鉴预测控制滚动优化原理，研究了未知环境中移动机器人路径规划问题。文中提出的基于滚动窗口的移动机器人路径规划方法充分利用机器人实时测得的局部环境信息，以滚动方式进行在线规划。大量仿真结果表明，滚动规划使机器人对动态环境具有很好的适应性，但由于缺乏全局环境信息，在有些复杂情况下不能保证规划的顾利实施，需要进一步增加环境约束和对已探知信息的记忆。

Algorithm and Simulation of Robot Rolling Path Planning

Using the rolling optimization concept adopted in predictive control, robot path planning in globally unknown environments is studied. A new strategy of path planning based on rolling windows for a mobile robot is proposed. The method makes full use of the real-time local environmental information detected by the robot and the path planning is performed on-line in a rolling style. Simulation results show it is well suitable to dynamic environment. And because of lack globally environmental information, rolling path planning will fail in some complex cases. To avoid this, more constraints should be added to the environment and detected information should be memorized.