| 动态未知环境下一种新的机器人路径规划方法 |
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| 引用本文： | 白金柯,陈立家,金何,陈瑞霞,毛海涛.动态未知环境下一种新的机器人路径规划方法[J].传感器与微系统,2011,30(10):33-36. |
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| 作者姓名： | 白金柯 陈立家 金何 陈瑞霞 毛海涛 |
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| 作者单位： | 河南大学物理与电子学院,河南开封,475004 |
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| 基金项目： | 河南省教育厅自然科学基金资助项目(2010A510001); 河南大学科学基金资助项目(2008YBZR028) |
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| 摘 要： | 针对机器人动态路径规划问题,提出了一种机器人在复杂动态环境中实时路径规划方法.该方法基于滚动窗口的路径规划和避障策略,通过设定可视点子目标、绕行障碍物和对动态障碍物的分析预测,实现机器人在复杂动态环境下的路径规划.针对障碍物分布情况,合理设计可视点法和绕行算法之间转换,有效地解决了局部路径规划的死循环与极小值问题.该方...
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| 关 键 词： | 路径规划 可视点 绕行算法 子目标 滚动窗口 |
A new path planning for robot in dynamic and unknown environments |
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| BAI Jin-ke,CHEN Li-jia,JIN He,CHEN Rui-xia,MAO Hai-tao.A new path planning for robot in dynamic and unknown environments[J].Transducer and Microsystem Technology,2011,30(10):33-36. |
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| Authors: | BAI Jin-ke CHEN Li-jia JIN He CHEN Rui-xia MAO Hai-tao |
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| Affiliation: | BAI Jin-ke,CHEN Li-jia,JIN He,CHEN Rui-xia,MAO Hai-tao(School of Physics and Electronics,Henan University,Kaifeng 475004,China) |
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| Abstract: | Aiming at the dynamic path planning problem of robot,a new method which implements real-time path planning of mobile robot in complex dynamic environment is proposed.This method is based on path planning and obstacle avoidance strategy for rolling windows,according to visible point sub-goal setting,obstacle detour,analysis and forecast for moving obstacle,path planning for robot in complex dynamic environment is realized.Aiming at obstacles distribution,reasonable design on exchange between visible point an... |
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| Keywords: | path planning visible point circumvent algorithm sub-goal rolling window |
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