基于Bug算法的移动机器人路径规划研究

当移动机器人具有有限的计算能力时,Bug算法是最简单有效的路径规划算法,适用于环境地图未知或环境快速变化的情况,这些算法从机器人传感器,如激光雷达传感器来获得的本地信息和全局目标信息,以朝向目标的直线运动和沿着障碍的边界运动这两种简单的运动方式来到达目标点。文章对此展开了分析。

Research on mobile robot path planning based on Bug algorithm

Bug algorithms are the simplest path planning algorithms that assume only local knowledge and do not need a map of the environment.Therefore,they are appropriate in situations where an environment map is unknown or it is changing rapidly and also when the mobile platform has very limited computational power.These algorithms use local information obtained from their sensors(e.g.,distance sensor)and global goal information.Their operation consists of two simple behaviors:motion in a straight line toward the goal and obstacle boundary following.This paper analyzes it.