摘要
提出了一种动态环境下实用于机器人路径规划的新方法。该方法先利用链接图法对环境建模 ,再通过遗传算法搜索出全局最短路径。然后在机器人行进过程中再分别遇到障碍物的类型不同而采取不同的局部路径规划策略完成避障 ,同时顺利达到目的地。
A new approach to robot path-planning in a dynamic environment is proposed. The globe navigation is based on MAKLINK graph, then an optimal route to the goal is found by genetic algorithm. Finally the local navigation strategy is used to find the robot way around while avoiding the obstacles, both static and dynamic. Simulation results using Matlab Toolbox show that the method is effective and feasible.
出处
《计算机与数字工程》
2005年第2期31-35,共5页
Computer & Digital Engineering
关键词
局部路径规划
全局路径规划
遗传算法路径规划
动态环境
local navigation, globe navigation, genetic algorithm, path-planning, dynamic environment
