一种车型机器人路径规划方法

Path Planning Method for Car-like Mobile Robot

在自主移动机器人的许多应用中,路径规划技术顺序地设置一套分散的路径点来引导机器人以最短的时间从起始位置到达目标点。针对移动机器人路径规划问题,提出了一种非完整型机器人路径规划技术,该技术采用基本原子操纵方法来解决车型机器人路径规划问题,并采用平滑路径规划方法来产生更多的连续路径用以解决基本原子操纵技术在做路径规划时具有很不连续的缺点从而为机器人获得最优路径。仿真结果证明了该方法的有效性和实用性。

In many applications of autonomous mobile robots, path planning technique determines a sequential discrete path points leading robat to the goal from the start position in the shorteds time. As to mobile robot path planning, a robot path planning technique was proposed in the paper, which utilized basic atomic maneuvers for solving the path planning for car-like mobile robot. Atomic maneuvers technique has the drawback of being very discontinuous. To solve this problem, another technique, smooth path planning was used to geneerate much more continuous paths and therefore an optimal path was obtained for the robot. The simulation results demonstrate the effectiveness and practicality of the proposed approach.