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复杂环境中移动机器人路径规划 被引量:3

The Path Planning Algorithm for Moving Robot in Complex Environment
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摘要 分析了传统人工势场法存在的缺陷,提出一种沿斥力场等势线环绕障碍物避障的移动机器人路径规划算法.仿真实验结果表明:该算法在复杂环境中路径规划方面能够获得较好的效果. Analyzing the defects of APF,a new path planning algorithm which avoids obstacle by rounding obstacle along equipotential line of repulsion field is presented. Simulation shows it has better performance for path planning in complex environment.
作者 徐雪松
出处 《江西师范大学学报(自然科学版)》 CAS 北大核心 2014年第1期83-88,共6页 Journal of Jiangxi Normal University(Natural Science Edition)
基金 国家自然科学基金(61165005 51167005) 江西省教育厅科技研究课题(GJJ11436)资助项目
关键词 路径规划 复杂环境 斥力场等势线 path planning complex environment equipotential line of repulsion field
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