| 一种复杂环境下的移动机器人路径规划方法 |
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| 引用本文： | 方景龙,陈建胜.一种复杂环境下的移动机器人路径规划方法[J].杭州电子科技大学学报,2009,29(6). |
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| 作者姓名： | 方景龙 陈建胜 |
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| 作者单位： | 杭州电子科技大学图形图像研究所,浙江,杭州,310018 |
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| 摘 要： | 针对基于粒子群优化算法的路径规划方法在复杂环境中容易出现找不到有效路径的缺点,提出了一种深度优先搜索和粒子群优化算法相结合的机器人路径规划方法。该方法将待探索区域划分为若干个子区域,利用粒子群优化算法深度优先搜索子区域。仿真实验结果证实了该方法的有效性和可行性。
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| 关 键 词： | 移动机器人 路径规划 粒子群优化算法 深度优先搜索 |
A Mobile Robot Path Planning Approach under Complex Environments |
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| FANG Jing-long,CHEN Jian-sheng.A Mobile Robot Path Planning Approach under Complex Environments[J].Journal of Hangzhou Dianzi University,2009,29(6). |
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| Authors: | FANG Jing-long CHEN Jian-sheng |
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| Affiliation: | FANG Jing-long; CHEN Jian-sheng(Institute of Graphics and Image; Hangzhou Dianzi University; Hangzhou Zhejiang 310018; China); |
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| Abstract: | A novel robot path planning approach combining depth-first search and particle swarm was presented to aim at the shortcoming of path planning approach based on particle swarm which can not find a valid path in complex environments.The approach divided the exploring region into several sub-regions,and then used the particle swarm to depth-first search the sub-regions.The simulation results show the validity and feasibility of this approach. |
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| Keywords: | mobile robot path planning particle swarm optimization depth-first search |
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