摘要
提出了一种适用于动态环境下移动机器人路径规划的新方法.用栅格法对环境进行建模,从目标栅格点出发,各栅格中心点到目标栅格中心点的距离信息以每个时间步一个栅格的速度不断向外传播.经过足够多时间步的传播后,通过逐步寻找信息的传播来源,即可获得机器人的最短路径.仿真结果表明,该方法非常简单且高效,能快速规划出动态环境下移动机器人的最优路径.
A new approach for path planning of mobile robot in the dynamic environment is proposed.The environmental model is established with grid method,and the distance information spreads outward from the target location by per grid step per time step.After enough time steps propagation,the distance information of each grid represents the shortest path length from this point to the target point.The shortest path of the robot can be obtained gradually through seeking the information propagation source.The simulation results showed that this approach is very simple and high efficient, and can program the optimal path of mobile robot in the dynamic environment quickly.
出处
《福州大学学报（自然科学版）》
CAS
CSCD
北大核心
2009年第5期701-704,共4页
Journal of Fuzhou University(Natural Science Edition)
关键词
动态环境
距离传播
移动机器人
路径规划
dynamic environment
distance-propagation
mobile robot
path planning
