一种通用的移动机器人路径规划仿真系统

A General-Purpose Moving Robot Path-planning Simulation System

提出了一种通用的路径规划仿真系统的设计方案,详细描述了系统的模型结构和运行方式,并介绍了系统的关键技术特点。仿真系统中算法设计独立,扩充性好,仿真功能和交互能力强大,具有并发检验能力,极大的方便了路径规划算法的研究工作,并能进一步用于多机器人的路径规划仿真研究。

Architecture for general-purpose moving robot path-planning simulation system is presented. The modeling method and execute mode is described in detail. Several key techniques are introduced in addition. The design of algorithm in the system is independent, which makes the system to be easily utilized with new algorithm. The strong functions in simulation and interface, together with the ability to check concurrency problems bring great convenience for the research work in path-planning algorithm and make it possible to simulate multi-robot path-planning.