摘要
针对传统Dijkstra算法搜索时间长、计算复杂度高等问题,文章提出一种有效的改进路径的算法。首先采用MATLAB Robotic Toolbox,根据Denavit-Hartenberg(D-H)参数建立平面机器人操作臂模型,并利用Monte Carlo(蒙特卡洛)点云建立避障工作空间。其次,通过改进Dijkstra算法在点云空间进行路径规划,并进行仿真实验。实验验证了该算法具有空间占用小、路径规划短、搜序效率高等优势。
In view of the long search time and high computational complexity of traditional Dijkstra algorithm,an effective improved path algorithm wasproposed.In this paper,firstly,the manipulator model of planar robot wasestablished based on the parameters of Denavit-Hartenberg(D-H)by using MATLAB robot toolbox,and the obstacle avoidance workspace wasestablished by using Monte Carlo point cloud.Secondly,the improved Dijkstra algorithm wasused to plan the path in the point cloud space,and the simulation experiment wascarried out.The experimental results showed that the algorithm hadthe advantages of small space occupation,short path planning and high search efficiency.
作者
郭梦诗
史腾飞
GUO Mengshi;SHI Tengfei(College of electrical engineering,Zhengzhou University of Science and Technology,Zhengzhou 450001,China)
出处
《电工技术》
2020年第20期22-23,157,共3页
Electric Engineering
