摘要
针对多目标不确定环境下移动机器人路径规划算法复杂的问题,提出了一种新的规划算法———混沌控制算法.该算法利用混沌控制原理,根据检测到的目标位置信息,分别采用线性和非线性方法构造目标函数,然后通过牛顿定理,进行路径规划,求出规划节点.最后对算法进行了模拟仿真.仿真结果表明,构造的目标函数在每个目标点周围形成了收敛区域,机器人移向哪一个目标点,由它的初始状态所在的吸引域决定,不必再施加其它控制.这样减少了规划的计算量,提高了路径规划的速度和精度,为以后研究包含多障碍物的不确定环境下的路径规划奠定了基础.
A new path planning algorithm, namely chaos control method, is introduced to solved the complexity of multi-target under uncertainty environment.In the algorithm, according the detected target locations, chaos control principle is used to construct the target function by the linear and nonlinear method respectively. Then the path is planned by using Newton scheme and the planning sequence nodes are resolved. Finally we have the method simulated by Visual Basic. The simulation results show that to which target the mobile robot moves is decided by the original position without any other control. This algorithm can reduce the computation largely and improve the velocity and precision of the path planning. We can also study the path planning under multi-obstacle uncertainty environment based on this method.
出处
《山东大学学报（工学版）》
CAS
2005年第3期68-71,106,共5页
Journal of Shandong University（Engineering Science）
基金
教育部留学回国人员科研启动基金资助项目(编号:2004.527)
关键词
混沌控制
不确定环境
路径规划
移动机器人
chaos control
uncertainty environment
path planning
mobile robot
