机器人导航系统中的路径规划算法

Path Planning Algorithms of Robots Navigation System

导航系统是反映移动机器人自主特性与智能行为的关键问题之一,它所能完成的功能包括:环境的感知与识别、路径规划、路径跟踪、障碍回避等。路径规划是移动机器人导航技术中的重要组成部分,它是机器人执行各种任务的基础,而如何在动态时变环境中有效的实施路径规划是亟待解决的问题。本文综述了该领域研究的主要内容及其发展动态,在对一些较有代表性的研究思想及其相关算法分析的基础上,指出了存在的不足和有待进一步研究的问题,并提出了一些解决思路。

Navigation system is one of the most important issues to reflect mobile robots＇ autonomous character and intelligent action. The system can realize many functions, such as environment perception and recognition, path planning, path tracking, obstacle avoidance and so on. Path planning is a very important component of navigation technology, it is the foundation of robot to execute various tasks, but how to realize path planning in dynamic uncertain environment is need solved, The paper analyzes the main contents and recent development of this field. Moreover on the basis of the analysis of some typical ideas, methods and related algorithms, it presents the existing problems and proposes issues of future research.