基于波碰撞算法的机器人路径规划研究

Robot Path Planning Based on Wave Collision Algorithm

智能移动机器人路径规划问题一直是机器人研究的核心内容之一.设机器人作业环境为二维平面大小一定的矩形,机器人行走时原地转向或直线行走.在离散区域上用栅格法,选择任意位置为起始点和目标点,两个搜索波的速度相同,向各方向传播,遍历障碍物,两个波前沿的初始交点为两点间最短路径.本文重点研究最佳的、最容易形成的菱形波+方波和菱形波+菱形波*+方波,当"菱形波+菱形波*+方波"离散搜索波在步长n≤93时,每个第三步长与所研究波级别的最佳波相重合;利用本算法描述地形时,能够与传统可视图法描述相媲美;此外,还给出了任意地形离散波和连续波间差的广义概念.路径规划算法的研究中证明了相关的命题,路径规划的算法经过计算机模拟,证实可行有效.

The technology of intelligent mobile robot path planning is always one of the most important robot research areas.The robot path planning method based on the starting point and goal point opposite propagating wave collision method is proposed,the algorithm using the discrete region.In case of the robot operating environment is a two-dimensional plane that size of certain rectangular shape,when the robot is walking steering or straight line.The experimental study was carried out,＂Diamond wave＋diamond wave＊＋square wave＂discrete search wave on n≤93,each of the third step and the best wave to research level coincide;the algorithm described terrain can be comparable to traditional view type description;in addition,the arbitrary topographic discrete wave and continuous wave generalized concepts were proposed.The results of computer simulation show that the algorithm was feasible and effective.