摘要
自主移动机器人路径规划问题是智能控制和机器人学研究的核心内容之一。系统分析了当前移动机器人路径规划方法的主要研究成果。对移动机器人路径规划模型进行描述,介绍了人工势场法等传统方法,阐述遗传算法等智能算法,讨论了算法融合问题,对移动机器人路径规划的发展趋势进行了展望。
The path planning problem of autonomous mobile robots is one of the core contents of intelligent control and robotics research, and it is a global research hotspot in recent years. This paper systematically summarizes the main research results of the current mobile robot path planning methods, which are mainly divided into two categories： traditional methods and intelli gent methods. Firstly, the path planning model of mobile robot is described. Secondly, the traditional methods such as the arti ficial potential field method are introduced. The intelligent algorithms such as genetic algorithms are summarized, and the fusion of the algorithrns is also discussed. Finally, the development trend of path planning for mobile robots is predicted.
作者
皇甫淑云
唐守锋
童紫原
宋彬
童敏明
HUANGFU Shu yun;TANG Shou feng;TONG Zi yuan;SONG Bin;TONG Min ming(School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221000,China;School of Information and Electrical engineering,University of New South Wales,NSW 2052,Australia)
出处
《软件导刊》
2018年第10期1-5,共5页
Software Guide
基金
国家重点研发计划项目(2016YFC0801800)
关键词
路径规划
传统规划
智能规划
算法融合
移动机器人
path planning
traditional planning
intelligent planning
deep integration
mobile robot
