复杂环境下移动机器人路径规划算法

Path Planning Algorithm of Mobile Robotin Complex Environment

对复杂环境下移动机器人全局和局部路径规划问题进行研究,提出一种全局-局部混合模式的路径规划方法.首先,对全局运动空间进行建模,运用全局模式规划一条从起点到终点的全局路径;然后,针对空间中影响机器人运动的移动物体,通过位置、速度分析碰撞的可能性,从而进行局部路径规划;最后,基于MATLAB仿真平台,将文中方法与经典人工势场法、改进人工势场法进行对比实验.实验结果表明:文中方法在机器人路径规划任务中的总时长和总长度均优于其他两种方法.

The global and local path planning problems of mobile robot in complex environment is studied,and a path planning method of global-local hybrid mode is proposed.Firstly,modeling the global motion space,and use the global model to plan a global path from the start to the end point.Then,for the moving objects in the space that affect the robot′s motion,the possibility of collision is analyzed through the position and velocity,so as to plan the local path.Finally,based on the MATLAB simulation platform,the proposed method is compared with the classical artificial potential field method and the improved artificial potential field method.Experimental results show that the total time and total length of the proposed method in the robot path planning task are superior than the other two methods.