摘要
提出了一种新的移动机器人全局路径规划算法.该算法不需要对环境中的障碍物特征做任何假设,也不需要建立障碍物的连通图模型,有效地克服了传统路径规划算法因为搜索而带来的计算复杂性问题,提高了算法的适应性和实时性.仿真结果证明了算法的有效性.
A new global path planning algorithm for mobile robot is proposed. Neither assumption on obstacle characteristics nor connected graph models for obstacles are needed in this method. Such defects as computation complexity existing in traditional methods caused by searching can be avoided, and as a result, the applicability and real-time performance are improved greatly. Simulation results verify the efficiency of this method.
出处
《机器人》
EI
CSCD
北大核心
2006年第6期593-597,共5页
Robot
