摘要
针对全局路径规划方法中基于自由空间的路径规划方法在环境发生变化时适应性不强、实时性较差和需要重新建立连通模型等问题,提出了一种基于可视图法的移动机器人路径规划算法,该算法比较好地弥补了自由空间法存在的缺陷.在实际建模期间,对于那些轮廓复杂的障碍物,可把它近似地看作矩形或多个矩形的组合体,以此来建立所描述障碍物的边界地图,并根据所得地图实现机器人的路径规划.仿真结果表明了该算法的有效性.
A V-graph based global path planning algorithm for mobile robot was proposed for such problems that the adaptability and real-time ability of the free space based path planning method are not good enough to change with environment and the connectivity model needs to be reestablished. The proposed algorithm can well remedy the shortages of the free space based path planning method. The obstacles with complex contour carl be regarded as a combination of rectangles to establish the obstacle boundary map. The path planning algorithm for mobile robot can be realized according to the obtained map. The simulation results prove the effectiveness of the proposed algorithm.
出处
《沈阳工业大学学报》
EI
CAS
2009年第2期225-229,共5页
Journal of Shenyang University of Technology
基金
辽宁省教育厅基金资助项目(2008500)
