动态环境下基于断点的移动机器人路径再规划研究

Research on mobile robot path replanning based on broken points in dynamic environment

动态环境下,障碍物破坏移动机器人的工作路径。为了研究移动机器人的路径再规划问题,先采用自由空间法建立移动机器人动态工作环境下的二维定量网络模型,再根据原有工作路径和网络模型,从原有工作路径的正向和反向搜索,找出原有工作路径的正向和反向断点。利用回溯法和Dijkstra算法搜索出断点之间的路径,通过连接正向断点之前的路径、断点之间的路径和反向断点之后的路径来实现路径再规划。

The work path was destroyed when obstacles occurred in dynamic environment, To research on the mobile robot path replanning, the quantitative network model was created in the dynamic environment with free-space method, The forward broken point can be found from the start of work path, and the backward broken point also can be found from the end of work path The path between two broken points was searched out with the Dijkstra and recursion algorithm, The work path was replanned through linking the path between the start and forward broken point, the path between two broken points and the path between backward broken point and the end.