摘要
研究了未知环境下救援机器人的路径规划问题,提出了一种新的基于传感器的路径规划方法。该方法所规划出来的路径是全局指导下的局部最优路径,传感器的探测距离越远,规划的结果越接近全局最优解。仿真分析证明了该方法是可行的,并且规划时间短,具有较好的实时性和环境适应性。
The path planning of a rescue robot in unkonwn environment is studied. A new sensor-based path planning method is proposed. The path planned by this method is the local best path under the direction of global goal. Sensor＇s probing range is farther, the result of planning closer the global optimal solution. The simulation analysis indicates this method is feasible with short planning time, better reahime character and environment adaptability.
出处
《煤矿机械》
北大核心
2011年第1期52-55,共4页
Coal Mine Machinery
基金
国家863计划资助项目(2007AA041501)
