移动机器人路径规划技术

Mobile Robot Path Planning Technology

为使移动机器人在实际地图环境中自主根据算法规划行走最短路径,研究A*、蚁群和遗传算法的实际应用。通过仿真和控制变量方法,将3种算法在模拟地图环境中进行最短路径规划,对比不同算法在不同复杂程度地图上的规划效果,找出实际地图环境中算法应用的规律,并通过多次测试与仿真修改。仿真结果表明:A*算法在实际地图环境中应用效果最佳,移动机器人能够自主根据A*算法规划出最短路径。

For realizing the mobile robot independently plan and walk the shortest path according to algorithm in the actual map environment, research the actual application of A＊, ant colony and genetic algorithm. Through the methods of simulation and controlling variable, 3 algorithms above are used to plan shortest path in the analogous map. Comparing the planning effect of different algorithms in different complex maps, the rules of the algorithms applied in the actual map will be easily concluded, then modify it by multi tests and simulations. The simulation results show that A＊ algorithm is the best in the actual map environment application. The mobile robot has been able to plan and walk the shortest path according to A＊ algorithm.