一种改进的机器人滚动路径规划算法

An improved rolling path plan algorithm of robot

针对静态和动态障碍物共存环境中机器人滚动路径规划的鲁棒性问题,提出了通过确定局部子目标位置判断机器人行进路线的路径规划算法。机器人以滚动窗口的形式实时检测局部环境信息,寻找并确定局部子目标的位置,从而做出下一步安全路径规划。机器人不断重复该过程,最终沿着一条优化路径安全到达目标点。仿真结果表明:该算法能使机器人沿着优化路径安全避障并到达目标点。

Aiming at the robustness of the robot rolling path planning when static and dynamic obstacles coexisted in the environment,a robot path planning algorithm is proposed by defining the location of local sub-goal.Robot red time detects the local environmental information based on rolling windows to find and identify the location of the local sub-goal and make the next safe path planning.The robot repeats the process and safely reachs the target point along an optimal path in the end.Simulation result shows that the algorithm can make the robot to avoid obstacles safely along the optimal path and reach the target point.