基于电路地图的移动机器人路径规划

Path Planning of Mobile Robot Based on Circuit Map

分析比较了障碍分布特性与网格电路电阻阻值之间的类似特性 ,利用电路中电流集中于阻值最小通路的原理 ,即最大电流通路具有与实际环境中道路长度短而且在障碍区中的道路宽度大的路径的相互对应性 ,尝试了一种基于电路地图的路径规划方法 .这种方法在局部规划的同时 ,兼备了路径规划的全局性 ,有效地从根本上避免了人工势场法等方法容易陷入局部最优的不足 .

A path planner in the way of circuit map is presented in this paper. The similarity of barrier distribution and grid circuit is analyzed. The phenomena of more current flowing along the branch with lower resistance and the aim of path planning for short and broad path are physically the same. The circuit map method is a local path planner with global characteristics. It overcomes the shortcomings of local optimum in some local path planner, like artificial potential field method. The results of theory analysis and simulation prove the feasibility and validity of this brand new method.