摘要
研究了一种在随机静态环境条件下移动机器人的路径规划方法.在环境地图信息的基础上,运用Voronoi图理论,建立了移动机器人运行的无碰撞路径网络.按特定的算法将给定的移动机器人起始点和目标点连入该路径网络,然后采用Dijkstra最短路径搜索算法,找出一条从起点到终点的最短路径.最后控制机器人沿着找到的最短路径运行到目标点位置,实现移动机器人的智能避障.整个系统以TI公司生产的TMS320LF2407A型号数字信号处理器(DSP)为控制器的核心.
A path planning method of mobile robot based on random static environments is studied. Based on environmental map information and use the Voronoi diagram theory, the collision-free path for mobile robot's running is built. The given start point and object point of mobile robot are linked to this path network according to a special formula, then the Dijkstra shortest path search algorithm was used to find out the shortest path from the start point to the object point. Finally, the mobile robot was controlled running along the found shortest path to get to the object position, so, the intelligent obstacle avoidance of mobile robot was achieved. Whole system uses the TI Co.'s TMS320LF2407A digital signal processor(DSP) chip as controller.
出处
《中国工程机械学报》
2005年第3期336-340,共5页
Chinese Journal of Construction Machinery
基金
福建省青年科技人才创新基金资助项目(2002J016)
