一种有效的地图创建方法和机器人的路径规划

A kind of effective map creation method and path planning of robot

介绍了一种新的移动机器人基于多边形的地图创建方法(三角形法)和在此基础上的基于遗传算法的移动机器人路径规划算法,并进行了仿真试验。三角形法是在可视图法的基础上,通过删除冗余的地图信息而得到的一种更加精简更能清楚表现障碍物之间关系的地图创建方法。在此基础上实现遗传算法路径规划,通过快速的迭代便能够找到最优的路径。

A kind of mobile robot map creation method （triangle method） based on polygons and on this basis, the genetic algorithm method based mobile robot path planning algorithm were introduced, and a simulation experiment was carried out. The triangle method is a kind of map creation method, which could express more simply and clearly the relationship among the barriers, obtained by the deletion of redundant map information on the basis of visibility graph method. The genetic algorithm path planning was achieved on this basis, and the optimal path could be easily found by means of rapid iteration.