摘要
提出了移动机器人的一种全局路径规划与局部路径规划相结合的新型算法。在以TMS320LS2407A为核心处理器设计的移动机器人平台上,研究移动机器人智能路径规划的算法问题并予以实现。上位机规划机器人的最优路径,并通过与机器人无线通信,发送路径信息,实时接收机器人方位信息。上位机通过操作应用程序对机器人进行监控。机器人能够自主计算轨迹并准确跟踪路径,检测到障碍物后,智能地重新规划路径,避开障碍物到达目的地。实验结果表明:该方法能有效实现机器人的最佳行走路线规划。
A new algorithm combined global path planning with local path planning for mobile robot is proposed. On the mobile robot＇ s controller designed with TMS320LS2407A as the center processor unit, the algorithm problem of intelligent path planning for the mobile robot is studied and realized. The upper computer plans the optimal path for the robot, and through wireless communication with the robot it can send the path information to the robot and accept the robot＇s orientation data in real-time. The robot is monitered by the upper computer through operation program. The robot can not only autonomously calculate the trajectories, but also trace the path correctly. When the robot senses barriers ahead,it can intelligently plan a new path and arrive the destination. The test result indicates the algorithm can effectively implement the optimal moving path planning for robot.
出处
《传感器与微系统》
CSCD
北大核心
2008年第9期93-96,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(60772107)
