摘要
该文主要研究如何确保移动机器人在散布障碍的未知环境中无碰运动的问题。基于范围传感器模型,按照可供选择的方向是有限个还是无穷多,分别给出了方向离散化、方向优化两种路径规划策略。采用这两种策略的机器人可以获得运动步长确定情况下合适的可行运动方向,顺利到达目标。仿真结果验证了其有效性。
This paper mainly focuses on how to make mobile robot move safely in unknown environments with obstacles.Based on the range sensor model,and according to the finite or infinite directions to be chosen,two strategies called direction-discretization and direction-optimization are proposed to solve the problem.These two strategies may help individual robot choose a proper feasible moving direction on the premise of the predetermined step size and thus the robot can arrive at its goal smoothly.Computer simulations show the validity of the proposed strategies.
出处
《南京理工大学学报（社会科学版）》
2005年第S1期20-23,共4页
Journal of Nanjing University of Science and Technology：Social Sciences
基金
国家"973"计划(2002CB312200)
