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| 优化的移动机器人无障区域内覆盖路径研究 | |
| 引用本文： | 王俭,陈卫东,赵鹤鸣.优化的移动机器人无障区域内覆盖路径研究[J].苏州科技学院学报(工程技术版),2004,17(2):61-64. |
| 作者姓名： | 王俭 陈卫东 赵鹤鸣 |
| 作者单位： | 1. 苏州科技学院,电子与信息工程系,江苏,苏州,215011 2. 上海交通大学,自动化系,上海,200030 3. 苏州大学电子信息学院,江苏,苏州,215006 |
| 基金项目： | 苏州科技学院校科研和教改项目 |
| 摘 要： | 移动机器人在含障区域内全覆盖路径规划的优化问题是一个需要整体考虑的问题,通常包括无障子区域分割、子区域内部行走路径和子区域间衔接三个子问题.文章研究子区域内部行走路径的优化问题,对几种常用的行走路径进行计算、分析和比较,并用实物机器人进行了行走实验.结果表明,无论从局部和全局上讲,向内螺旋式路径更适合于移动机器人在无障子区域内完成全覆盖任务. |
| 关 键 词： | 移动机器人 全覆盖 无障区域 路径 优化 |
| 文章编号： | 1672-0679(2004)02-0061-04 |
| 修稿时间： | 2004年4月6日 |
A Study of Optimized Path of Mobile Robot in Free Area |
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| WANG Jian ,CHEN Wei-dong ,ZHAO He-ming.A Study of Optimized Path of Mobile Robot in Free Area[J].Journal of University of Science and Technology of Suzhou：Engineering and Technology,2004,17(2):61-64. | |
| Authors: | WANG Jian CHEN Wei-dong ZHAO He-ming |
| Affiliation: | WANG Jian 1,CHEN Wei-dong 2,ZHAO He-ming 3 |
| Abstract: | The optimization of mobile robot path planning in area with obstacles is a problem that needs taking into an integrated consideration.The problem consists of free sub-area decomposing,path in sub-area and linking of sub-areas.This paper touched on the problem of path in sub-rea,analyzed and compared several pathways,such as back-and-forth,inner-spiral and outer-spiral.It is concluded that either from local or whole point of view,inner-spiral path is better than others.The paper also made experiment by real robot platform and verified its conclusion. |
| Keywords: | mobile robot complete coverage free area path optimization |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |