基于电路地图的带拖车移动机器人路径搜索

Path Searching of Tractor-Trailer Robot Based on Circuit Map

采用电路映射地图进行环境建模,在等效尺寸的基础上对带拖车移动机器人的路径规划进行研究.这种方法在局部规划的同时,兼备了路径规划的全局性,有效地从根本上避免了人工势场法等局部分析方法容易陷入局部最优的不足.理论分析和仿真验证了本方法的可行性和正确性.

This paper prcsents a path planner in the way of circuit map for the tractor-trailer robots on the basis of equivalent size. It takes the global properties of path planning into consideration, and overcomes the shortcoming of local optimum in some local path planner, e.g. artificial potential field method. The theory analysis and simulation prove the feasibility of this brand new method.