加速度空间中基于线性规划的移动机器人路径规划方法

LP-based Path Planning Method in Acceleration Space for Mobile Robot

针对动态不确定环境下移动机器人的路径规划问题,提出了加速度空间中一种基于线性规划(Linear programming,LP)的方法.在机器人的加速度空间中利用相对信息,把机器人路径规划这一非线性问题,描述成满足一组线性约束同时使目标函数极小的线性规划问题,嵌入基于线性规划方法的规划器,得到一条满足性能要求的最优路径.仿真试验验证了算法的实用性及有效性,与势场引导进化计算的方法(Artificial potential guided evolution algorithm,APEA)相比更优化,更实时.

A linear programming （LP） based method in the acceleration space is proposed for the path planning of the mobile robot in the dynamic and uncertain environment. By using the relative information, the path planning of the mobile robot in the dynamic environment is described as minimizing an objective function subject to a set of linear inequalities that are easily embedded into the LP path planner. Simulations are carried out and the results show that the proposed method is more efficient and more convergent than the artificial potential guided evolution algorithm （APEA）.