一种未知环境下的机器人快速路径规划

Fast Path Planning for Robot in Unknown Surrounding

路径规划是移动机器人研究的一个重要问题。在该问题的探讨中,多数方法为了简化问题,都是在假设障碍物已知的条件下进行的,然而实际环境中,障碍物的位置和大小有时是很难预知的。文中所描述的算法,在解决障碍物预测问题的同时建立相应的环境地图,通过设置的调控参数和回退机制有效地提高了机器人对最优路径的搜索效率,有效地解决了未知环境下的路径规划问题。仿真实验表明,该算法的障碍物的搜索和最优路径的建立都是令人满意的。

Path planning is important in mobile-robot.In discussion of this problem,obstacles are supposed having known at numerous methods for predigesting problem.In fact,it is very difficulty to ascertain the location and size of obstacles.In this paper,obstacles are forecasted and map of surrounding is setting up,in the same time,controlling parameters and withdrawing strategy are designed to improve the performance,path planning of unclear surroundings is solved very well.Computing simulation experiments show its validity.