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一种不确定环境下移动机器人的避障规划算法 总被引:9,自引:0,他引:9
本文提出了在不确定的环境中,移动机器人的一种全局路径规划算法.将全局路径
规划分解为局部路径规划的组合.为提高规划的效率,在局部规划中,采用了基于案例的学
习方法.以ART-2神经网络实现案例的匹配、学习和扩充,满足了规划的实时性要求,仿真
结果说明了本算法的有效性. 相似文献
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利用AGV全方位移动特性,即可在前后、左右和原地零半径旋转三个方向上独立移动,基于智能停车库的应用场景,将AGV作为控制对象,对调度系统核心模块——路径规划算法、电子地图建模、行车避障以及数据库设计等方面进行了详细研究,给出了调度系统各个分系统的设计实现以及整体的软件组织框架图,同时针对单车道和双车道两种不同的道路设计模式进行了比较。基于经典的A*算法,引入转弯因子,提出了一种路径规划算法,使得在起始点和目标点确定的情况下,规划的路径转弯次数最少,AGV行走更平滑,系统效率更高。经实际测试,完成了调度系统基本功能验证。 相似文献
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提出的路径规划方法通过几何法寻找机器人与目标点之间的优化点,连接这些点生成机器人到达目标点的一条无碰撞优化路径.该方法计算量小,适合于静态和动态避障.基于这种方法,还提出了一种新的射门动作. 相似文献
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针对移动机器人的路径规划计算问题,通过对其系统特性的分析,提出一种MFNN全局路径规划计算方法,并从理论上进行建模与推导.仿真结果表明:此方法计算简单,收敛速度快,能显著提高求解移动机器人全局最优化问题的计算效率,并避免了某些局部极值情况. 相似文献
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针对粒子群算法的寻优搜索能力强和已有的一些导航算法存在收敛速度慢、迭代时间长的缺点,提出一种基于粒子群算法的潜器导航算法.利用群智能理论,对基本粒子群算法进行改进:提出一个含突变因子的可变调的惯性权值策略,从而达到增强粒子群算法局部和全局寻优的调度能力.通过实验仿真验证,证明了改进粒子群算法具有更优的性能.在此基础上,将该算法应用到水下潜器的路径规划中,通过对环境的建模分析进行条件约束,最终将路径规划问题转化为路径点求解的优化问题.实验仿真结果获得了从起点到终点的无碰撞路径,收敛速度也较快,验证了该方法的有效性和可行性. 相似文献
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Y.Y. Cha 《Robotics and Computer》1997,13(2):145-156
The local path-planning algorithm using a human's heuristic and a laser range finder which has an excellent resolution with respect to angular and distance measurements is presented for real-time navigation of a free-ranging mobile robot. The algorithm utilizes the human's heuristic by which the shortest path from the various pathways to the goal can be found, even though the path may not have been taken before. In this paper, the attractive potentials in each candidate pathway are calculated in terms of the angle between the goal and pathway direction, the pathway width, and the angle between pathway and previous heading direction of the mobile robot. Consequently, the mobile robot chooses the optimal path that has the maximum attractive potential among candidate pathways. The heuristic principles are applied to the path decision of the mobile robot such as forward open way, side open way and no way. Also, the effectiveness of the established path-planning algorithm is examined by computer simulation and experiment in a complex environment. 相似文献
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分析了汽车低速倒车过程中的运动学特性,以及汽车在倒车过程中车身与停车位以及障碍物之间可能发生的碰撞,同时根据汽车与车位之间的几何约束规划倒车路径,确定平行泊车的预备倒车区域,实现平行泊车的转向策略,以便追踪规划的路径,避免发生碰撞.在SlMULINK中搭建某轿车的运动学模型以及模拟平行泊车的倒车环境.将转向控制策略引入... 相似文献
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Sunggoo Jung Hanseob Lee David Hyunchul Shim Ali-akbar Agha-mohammadi 《ETRI Journal》2021,43(4):580-593
When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge. 相似文献