越野环境建模与动态路径规划

Field environment modeling and dynamic path planning

针对越野环境下移动机器人的导航与控制问题,提出了一种越野环境下环境建模与动态路径规划方法。该方法能够针对地形的数字高程模型,在综合考虑机器人的性能约束和地形特征等因素的基础上有效地实现越野环境的建模;在此基础上的路径规划采用全局信息与局部信息、前期规划结果与当前规划相结合的方法,满足了越野环境下动态路径规划的要求。实验结果表明,该方法能够很好地适应各种复杂的越野环境。

Facing to the problem of navigation and control of mobile robot in field environment, an approach to environment modeling and dynamic path planning in field environment was proposed. Given the Digital Elevation Model （DEM） of the terrain, this method can model the field environment effectively and synthetically considering the factors such as the capability restriction of robot and the characters of terrain and so on. Based on the environment modeling, the path planning, which adopted a method that combined global information with local information and integrated pre-action planning result with online planning, can satisfy the requirement of the dynamic path planning in filed environment. The experimental results show that this method can fit in with different complicated field environments very well.