摘要
路径规划是研究自主移动机器人技术中的一个重要领域,一般地可分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划两种类型.对未知环境下移动机器人路径规划的方法和发展现状进行了总结,指出了各种方法的优点与不足.最后对移动机器人路径规划的发展趋势进行了分析.
Mobile robot path planning technology is one of an important domain in mobile robot technology research.One is global path planning based on model that the environment of the robot is certain and another is local path planning based on sensor that the environment of the robot is uncertain.In this paper,present situation of mobile robot is summarized.In addition,the advantages and disadvantages of these algorithms are pointed out.At last,the trend of mobile robot path planning is described.
出处
《沈阳工业大学学报》
EI
CAS
2005年第1期63-69,共7页
Journal of Shenyang University of Technology
基金
辽宁省教育厅资助项目(20040267)
关键词
移动机器人
未知环境
全局路径规划
局部路径规划
增强学习
mobile robot
unknown environment
global path planning
local path planning
reinforcement learning
