移动机器人路径规划算法综述

Review of Path Planning for Mobile Robots

为提高机器人路径规划的搜索速度,缩短搜索时间,总结归纳移动机器人在路径规划问题上的算法及其特点。首先回顾移动机器人发展历史,并对路径规划技术进行概述;其次对移动机器人路径规划进行分类总结,并从移动机器人对环境掌握情况的角度出发,将移动机器人路径规划分成全局规划和局部规划两类,然后对全局规划和局部规划的相关算法进行综述,同时对相关算法发展现状及优缺点进行总结。最后指出机器人路径规划技术在改进算法、混合算法、多机器人协作、复杂环境以及多维环境下进一步深入研究的未来发展趋势。

In order to improve the search speed and shorten the search time of robot path planning,the characteristics of various algorithms is summarized.First,the history of mobile robot development and outline the key technologies of path planning are reviewed.Secondly,the mobile robot path planning is classified and summarized.From the perspective of the mobile robot's grasp of the environment,the mobile robot path planning is divided into two categories :global planning and local planning.Then the related algorithms of global planning and local planning are reviewed,and the development status,advantages and disadvantages of related algorithms are summarized.Finally,the future development trend of robot path planning technology in further research, hybrid algorithm,multi-robot collaboration,complex environment and multi-dimensional environment is pointed out.