移动机器人运动规划研究综述

Research on Mobile Robots Motion Planning: A Survey

机器人运动规划是移动机器人导航的核心技术之一。40多年来,运动规划技术发展迅速,涌现出了许多规划算法,但因为环境描述方式差异巨大,技术差别大,实验比较难度较大。在总结机器人发展史上具有典型意义的规划算法的基础上,提出了路径规划算法的评价标准和形式化描述方式,介绍了每种算法的原理或技术,从搜索策略和环境建模的角度将它们分为四大类,分别是基于自由空间几何构造的规划算法、前向图搜索算法、基于随机采样的运动规划算法以及智能化规划算法,并按照提出的标准比较它们的性能。

Mobile robots motion planning is one of the key technologies in the robot navigation. During the past 40 years of mobile robot development, lots of planning algorithms were proposed. Because of the tremendous difference among environment models and planning methods, it is difficult to compare them experimentally. This survey reviewed the classical planning algorithms in the history of robot development and presented a set of criteria of planners and the formal description of the problem of planning. The paper described each algorithm＇s principle or main technology in detail and classified the algorithms based on environment model and search strategy. They are classified into four categories, that is, planners based on geometry construction of free spaces, forward graph search algorithms, random sampling-based motion planning algorithms and intelligent planners. Last, The paper compared and summarized their performance and gave an outlook to the future research of the mobile robots motion planning.