一种改进的机器人滚动路径规划算法

A Modified Rolling Algorithm for Robot Path-planning

研究了复杂未知环境下移动机器人的路径规划问题,旨在解决当机器人具有相当大的可视半径时,传统的滚动规划算法在解决路径规划问题时效率不高的问题。提出了一种局部规划中采用改进的A*算法的滚动规划算法。该算法引入一种二叉堆数据结构来存储局部规划待考察的节点,通过减少局部寻优中比较的次数来提高搜索的速度。仿真结果表明,该算法在解决这类路径规划问题时,能显著提高路径规划的效率,对其他的路径规划算法也有重要的借鉴意义。

A path planning problem in unknown complex environment is studied.The study purpose is to improve the efficiency of the traditional robot rolling path planning algorithms in the case of robot with a large vision radius.A modified rolling algorithm is proposed.It introduces a data structure of binary heap to store the nodes to be considered in searching local path.By reducing the times of comparing in local searching,the algorithm speeds up the search for local path.Simulation results show that the proposed ...