摘要
针对已知环境信息下的移动机器人全局路径规划问题,提出了一种基于八卦图的波传播路径规划算法。首先将移动机器人运行环境建立极坐标系下的八卦图,然后搜索合理路径,最后通过合理路径评价与优化得到最终规划路径。仿真与实验结果证明了算法的低耗时和实用性。
Ba -gua map based wave propagation algorithm （WPA） for global path planning of mo- bile robot in a known environment is presented. In the approach,Ba - gua map based on the polar co- ordinate is used to describe the environment of mobile robot and Ba - gua map model is established. Then, the appropriate paths are searched through the implementation of Ba -Gua map. Lastly, the nal planned path is obtained through the evaluation and optimization of appropriate paths. Simulation and experiment results illustrate that the approach is practical and timesaving.
出处
《机械与电子》
2013年第1期74-78,共5页
Machinery & Electronics
