摘要
针对机器人在未知环境中的运动规划,本文给出了一种基于激光传感器的完备路径规划算法,使机器人可以有效地扫描整个未知环境。使得机器人扫描整个未知环境的行走路径较短,所需的时间也较短。计算机仿真验证了算法的可行性,同时体现了算法的优越性。
Aimed at the path planning for robot in unknown environments, this paper gives a complete algorithm of path planning based on laser sensor, which can ensure the robot effectively scanning the whole free space of unknown environment. This paper also gives an optimization algorithm that makes the length of movement of robot shorter and expended time lesser in scanning whole the unknown environment. Computer simulation validates that the algorithm is feasibility and advantage.
出处
《电气自动化》
北大核心
2005年第5期34-37,共4页
Electrical Automation
关键词
路径规划
遍历算法
完备性
贪婪算法
path planning ergodic algorithm completeness greedy algorithm
