| 车型移动机器人的SPRM路径规划方法 |
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| 引用本文： | 孙凤池,黄亚楼,康叶伟,王晓明,宗贵聪. 车型移动机器人的SPRM路径规划方法[J]. 机器人, 2005, 27(4): 325-330 |
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| 作者姓名： | 孙凤池 黄亚楼 康叶伟 王晓明 宗贵聪 |
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| 作者单位： | 南开大学软件学院,天津,300071;山东科技大学,山东,青岛,266500 |
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| 基金项目： | 国家自然科学基金资助项目(60175030) |
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| 摘 要： | 研究车型移动机器人的路径规划问题，提出一种用局部规则路图结合随机路图，辅助建立全局复合路图的环境建模方法. 在此基础上进行路径规划，提高了在障碍物附近产生的局部路径的质量，减少了由于频繁地执行避碰校验所造成的时间消耗，并解决了可行空间丢失的问题. 仿真实验验证了这种方法在车形移动机器人路径规划应用中的有效性.
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| 关 键 词： | 移动机器人 路径规划 路图 环境建模 |
| 文章编号： | 1002-0446(2005)04-0325-05 |
SPRM Based Path Planning for Car-like Mobile Robots |
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| SUN Feng-chi,HUANG Ya-lou,KANG Ye-wei,WANG Xiao-ming,ZONG Gui-cong. SPRM Based Path Planning for Car-like Mobile Robots[J]. Robot, 2005, 27(4): 325-330 |
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| Authors: | SUN Feng-chi HUANG Ya-lou KANG Ye-wei WANG Xiao-ming ZONG Gui-cong |
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| Affiliation: | SUN Feng-chi~1,HUANG Ya-lou~1,KANG Ye-wei~1,WANG Xiao-ming~2,ZONG Gui-cong~2 |
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| Abstract: | The path planning problem for car-like mobile robots is studied, and an environment modeling method is presented which builds the global compound roadmap by combining the local regular roadmap with the probabilistic roadmap. With path planning based on this model, the quality of local roads near the obstacles is improved, time consumption caused by the frequent collision-avoiding check is lowered, and the loss of feasible space is avoided. The simulation experiment shows that this method is very efficient in the car-like mobile robot path planning. |
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| Keywords: | mobile robot path planning roadmap environment modeling |
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