移动机器人路径规划技术的研究现状与展望

Current Status and Future Development of Mobile Robot Path Planning Technology

从基于事例、基于环境模型和基于行为三个方面全面而系统地综述了移动机器人路径规划技术的研究现状,对于当前普遍采用的路径规划方法及其实际应用情况进行了较为详细的介绍和分析;同时分别探讨了反应式规划和慎思规划、全局规划和局部规划、传统方法和新的智能方法之间的结合状况,并借此得出了有关路径规划技术的一些新的发展趋势;总结了该领域有待进一步研究的相关问题。

The current status of path planning technology for mobile robot is overall and systematically summarized from three aspects:case-based, model-based,and behavior-based. The path planning methods which are prevalent adopted and the practical application of these methods are introduced and analyzed. Some new trends of path planning technology are indicated through discussing the combination state between reactive planning and deliberate planning,global planning and local planning, traditional methods and new intellective means. The correlative problems which need further researched are also proposed.