摘要
文章提出了在离散区域上,基于起始点和目标点相向传播波碰撞法的机器人路径规划法。设机器人作业环境为二维平面大小一定的矩形地形,机器人行走时仅限于作原地转向或直线行走。基于此开展路径规划的仿真研究,提出了搜索许可路径的算法。计算机模拟结果证实该算法可行、有效。
The robot path planning algorithm based on wave collision method propagating oppositely from the starting point and goal point is proposed, using the discrete region. Suppose that the robot operating environment map is a two-dimensional plane with a certain rectangular shape, where the robot is walking around or along straight lines. Experimental study was carried out. The computer simulation results show that the algorithm is feasible and effective.
出处
《航天器环境工程》
2013年第4期436-440,共5页
Spacecraft Environment Engineering
关键词
移动机器人
碰撞路径
离散波
连续波
路径规划
mobile robot
collision path
discrete wave
continuous wave
path planning
