摘要
以自主设计的导盲机器人为实际应用背景,提出一种适用于室内导航的算法。该路径规划算法利用射频识别(radio frequency identification,RFID)系统,通过超高频射频识别系统与低频射频识别系统的联合运用实现准确定位,将可视图法与A*算法相结合,提出一种路径规划算法,在提高搜索效率的同时保证了规划路径的可行性。通过在平面障碍物环境下实验,验证了该算法的可行性。
This paper designs a new indoor path planning algorithm for seeing eye robots using the radio frequency identification （RFID） system. Through combination of ultra high frequency （UHF） radio frequency identification system with low radio frequency identification system, the new algorithm realizes accurate positioning for robots. New algorithm also combines the idea of V-graph algorithm positioning with A ＊ , which not only improves the effi- ciency of searching but also guarantees the feasibility of path planning at the same time. The simulation result veri- fies the effectiveness and feasibility of the new path planning algorithm.
出处
《机械科学与技术》
CSCD
北大核心
2014年第4期490-495,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
江苏省高校自然科学研究项目(09KJD46003)资助
关键词
机器人
路径规划
可视图法
algorithms
computer simulation
design
efficiency
MATLAB
path planning
radio frequency iden- tification（RFID）
robots
schematic diagrams
visibility graph algorithm
