摘要
本文给出基于地图的室外移动机器人路径规划和导航系统的设计与实现。根据主题图内容分层和空间关系的拓扑特征建立了基于对象的空间表示方法。全局路径规划可在多种约束条件下找出最优路径。启发式搜索算法中的费用函数同时考虑路径长度和转折次数与角度两个主要因素。文中还描述了一个以有穷状态机为工具的导航系统模型。并给出了针对校园环境模型在ＳＵＮ３／２６０工作站上实现的部分实验结果。
This paper presents the design and implementation of a map based path planning and navigation system(MBPPN)for an outdoor mobile robot. A simple object-based spatial representation,based on the thematic component layering as well as topologic features of spatial relationships,is proposed. Global path planning allows finding optimal paths under multi-constraints.The cost function of a heuristic search algo-rithm takes into account both the length of the path and the number of turns.A navigation system model by using a finite state machine is described.Several experimental results which are implemented in a SUN 3/260 Workstation In accordance with Our campus environment are also given in this paper.
出处
《机器人》
EI
CSCD
北大核心
1994年第1期24-29,共6页
Robot
关键词
移动机器人
路径规划
导航
Autonomous mobile robot,path planning,navigation,spatial representation,artificial intelli-gence
