摘要
将栅格法和搜索树结合在一起,提出一种新的路径规划方法——栅格搜索法.首先利用栅格法建立环境模型,构建搜索树,在搜索树中采用从叶节点到根节点的回溯搜索方法寻找路径规划,最后用MATLAB仿真.结果表明,该方法能找到从起点到终点的最优路径,验证了该方法的有效性.
Combining the grid with search tree method together, the author proposes a new path planning method- grid search method. Firstly, this paper uses grid method to establish an environmental model, builds the search tree, and uses backtrack search method to find the leaf node to the root node path planning in search tree. Then the simulation of this method is carried out by MATLAB. The results show that this method can find the better path from starting point to target point, which verifies that this method is effective.
出处
《河南科学》
2013年第5期605-607,共3页
Henan Science
关键词
栅格法
搜索树
环境模型
路径规划
grid
search tree
environmental model
path planning
