一种基于栅格扩展的机器人路径规划方法

A robot path planning algorithm based on grid expansion

提出一种机器人的路径规划方法 ;这一路径规划方法是在机器人的位姿空间中进行的 ,采用栅格扩展的策略 ,即从初始位姿和终止位姿的栅格进行扩展 .扩展一方的栅格前 ,先从这一方欲扩展栅格的第一个栅格向另一方欲扩展栅格的第一个栅格作一直线 ,沿这一直线首先进行扩展 .最后在机器人的仿真系统中运用这一方法进行路径规划 ,大大地提高了路径规划的效率 .

Presents a new robot path planning method used for path planning in the configuration space by expanding the grid from initial configuration to final configuration, and describes the process of expanding, the line between the first grid of candidate expanding grids to that on the other side and then expanding the grids along this line and concludes that if this line reaches the other side without meeting any obstacle on the way, a path is then found, and concludes that this method greatly reduces the expanding candidates of all the grids, reduces the searching space and speeds up the process of finding a path.