移动机器人在障碍空间中路径规划的研究

Research of Mobile Robot's Path-planning in Obstruction Space

移动机器人的研究主要转向了"多智能体动态不可预测环境中的问题求解"。体现移动机器人智能化水平的主要指标即其在障碍空间中的路径规划能力。本文将阐述在障碍空间中移动机器人在路径规划领域取得的研究成果,介绍基于模糊控制的避障思想,以及在该思想基础上发展起来的基于遗传算法的路径规划算法和蚁群算法在移动机器人领域中的研究。

Mobile robot＇s research turned to the ＂A multi-agent Robot in the dynamic unpredictable environment solutions＂. Robot＇s path- planning method in the space which has obstacles reflects its intelligent level. This paper described the possible approaches that the mobile robot avoids obstacles in unpredictable space. And as the kind of distributed aptitude analogue algorithm, the genetic algorithm （CA） and the ant colony algorithm that has good optimize ability, would also be well described.