基于栅格法的机器人路径规划调节

Robot path planning regulation based on Grid method

针对栅格法建模的不足,本文研究了一种基于栅格的机器人路径规划调节方法。该方法首先用栅格法建立机器人运动空间模型,在此基础上利用局部规划方法进行搜索得到全局导航路径,然后用微粒群算法局部垂直和水平调节导航路径上的路径点,得到更优路径。计算机仿真实验表明,利用本方法可以规划出一条全局优化路径,且能安全避障。

For the lack of modeling the grid method,this paper studied a Grid-based robot path planning adjustment.The method was established by first using the grid space robot model,based on the use of local programming method to search to be global navigation path,and then PSO local vertical and horizontal adjustment path points on the navigation path,get a better path.Computer simulation results show that using this method can work out a global optimization path,and can safely evade the barrier.