基于栅格模型的机器人路径规划快速算法

A Fast Algorithm Based on Grids for Mobile Robot Path Planning

机器人路径规划算法通常要求是实时的,遗传算法和蚁群算法应用于机器人路径规划时性能并不突出。论文提出的基于栅格的快速算法,简单实用,且计算速度快、占用存贮空间少。实验结果表明,在同等规模下,该算法求解时间仅为蚁群算法求解时间的大约0.025%,算法在更大的数据集上也取得了成功。同时该算法还是一个高效的迷宫最短路的搜索算法。

Generally the algorithm for Mobile Robot Path Planning is required to be real-time.The performance when genetic algorithm and ant colony algorithm are applied to mobile robot path planning is not striking.Based on the grids model,this article proposes a Fast Algorithm（FA）.FA is simple,easy to process with very fast computation speed and much lower memory consumption.The result shows on the same scale the time consumed by FA is only about 0.025% of that by ACO.Then FA is successfully applied to much larger scale problems and can also work efficiently to find the shortest path in maze.