摘要
研究已知障碍物形状和位置环境下的全局路径规划问题。给出了一个路径规划算法 ,其能量函数的定义利用神经网络结构 ,根据路径点位于障碍物内外的不同位置选取不同的动态运动方程。规划出的路径达到了折线形的最短无碰路径。仿真研究表明 ,本文提出的算法计算简单 ,收敛速度快 。
In this paper, the problem of global path planning is studied for a moving robot in an environment filled with obstacles whose shapes and positions are known. An planning algorithm is presented based on Energy Function defined using a neural network. It is shown by the simulations that the computation is simple, the convergence of the algorithm is fast, and the constructed path is optimal and piecewise linear.
出处
《洛阳工学院学报》
2001年第1期31-34,共4页
Journal of Luoyang Institute of Technology
基金
河南省自然科学基金资助项目! (0 1110 60 40 0 )