摘要
针对移动机器人作业环境的复杂性和不确定性,提出一种面向复杂环境的移动机器人在线路径规划方法。该方法借鉴自学习实时启发式搜索和多步搜索思想,将执行阶段与规划阶段交替进行,并在传感器有限探测范围内寻优,使规划路径适应复杂环境约束,规避障碍物,同时满足在线应用的要求。仿真结果表明该方法可以快速有效的完成面向复杂环境的移动机器人在线路径规划,证明了方法的正确性和有效性。
Aimed at the complexity and uncertainty of mobile robot work environment,an online path planning method of mobile robot in complex environment was proposed. Using the concept of learning real-time heuristic search algorithm and the muti-step search algorithm,executing phase and planning phase were carried out alternately and the optimization was limited in the sensors detection range. The path could match the constraints of the complex environment and online application. Simulation results show that the method could gain the mobile robot online path quickly in complex environment,which prove the correctness and validity of the method.
出处
《上海电气技术》
2009年第1期32-35,共4页
Journal of Shanghai Electric Technology
关键词
移动机器人
复杂环境
路径规划
在线规划
mobile robot
complex environment
path planning
online planning
