移动机器人路径规划技术的现状与展望

Present Situation and Future Development of Mobile Robot Path Planning Technology

移动机器人技术研究中的一个重要领域是路径规划技术。它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状,指出了各种方法的优点与不足。最后对移动机器人路径规划技术的发展趋势进行了展望。

Mobile robot path planning technology is one of the important domains in mobile robot technologies' research. It includes two parts: one is global path planning based on model that the environment of the robot is certain and the other is local path planning based on sensor that the environment of the robot is uncertain. Present situation of mobile robot is summarized. In addition, the advantages and disadvantages of these algorithms are pointed out. At last, the trend of mobile robot path planning is described.