摘要
针对已知环境信息下的移动机器人全局路径规划问题,描述了一种基于扇形栅格地图的波传播路径规划算法.首先将移动机器人运行环境划分为极坐标系下的扇形栅格地图,建立栅格的六叉树连通模型,然后通过栅格类方法完成栅格赋值和近似路径搜索,最后通过近似路径评价与优化得到最终规划路径.算法引入环道和环区概念,解决了圆形波传播半径问题,算法复杂度为O(n).仿真与实验结果证明了算法的低耗时和实用性.
A fan-shaped grid map based wave propagation algorithm（WPA） for global path planning of mobile robot in a known environment is described.In the approach,a fan-shaped grid map based on the polar coordinate is used to describe the environment of mobile robot and a grid-connected six-tree model is established.Then,the grids are valued and the approximate paths are searched through the implementation of the grid class.Lastly,the final planned path is obtained through the evaluation and optimization of approximate paths.The concepts of circle-road and circle-area are introduced in this approach,the radius problem of WPA is solved and its complexity is O（n）.Simulation and experiment results illustrate that the approach is practical and time-saving.
出处
《机器人》
EI
CSCD
北大核心
2010年第4期547-552,共6页
Robot
基金
西北工业大学研究生创业种子基金项目(Z200922)
关键词
全局路径规划
扇形栅格
波传播算法
移动机器人
global path planning
fan-shaped grid
wave propagation algorithm
mobile robot
