摘要
将元胞自动机应用于机器人路径规划,对移动机器人及其周围环境建立元胞自动机模型。机器人环境空间完全已知时,利用启发式算法与元胞自动机模型结合的方法,通过反复遍历具有最低耗费值的一系列元胞生成最优路径。并利用多层次的交互式元胞自动机,在方向有约束和地形耗费不同的环境中实现机器人的路径规划。
In this paper,the cellular automata model is set to a mobile robot and its environment. When the environment is completely known,the path is generated by repeatedly going through a series of cells and choosing the square with the lowest cost by heuristic algorithm. It also uses the interactive and multi-layered cellular automata to get a shortest path which has orientation restrict and different costs.
出处
《科技信息》
2010年第07X期24-25,共2页
Science & Technology Information
基金
江苏省应用基础研究课题(BJ98057)
关键词
元胞自动机
启发式算法
路径规划
Cellular Automata
Heuristic Algorithm
Path-planning
