移动机器人路径规划算法的研究综述

Review of Path Planning Algorithms for Mobile Robots

路径规划是移动机器人的热门研究之一,是实现机器人自主导航的关键技术。针对移动机器人路径规划的算法进行研究,以了解不同条件下路径规划算法的发展与应用,系统性地总结了路径规划的研究现状和发展。针对移动机器人路径规划的特点,将其划分为智能搜索算法、基于人工智能算法、基于几何模型算法和用于局部避障算法。基于上述分类,介绍了近年来具有代表性的研究成果,重点分析各类规划算法的优缺点,对移动机器人路径规划的未来发展趋势进行展望,为移动机器人路径规划研究提供一定的思路。

Path planning is one of the hot research topics of mobile robot,and it is the key technology to realize autono-mous navigation of robot.In this paper,the path planning algorithms of mobile robots are studied to understand the devel-opment and application of path planning algorithms under different environments,and the research status and develop-ment of path planning are systematically summarized.According to the characteristics of mobile robot path planning,it is divided into intelligent search algorithm,artificial intelligence-based algorithm,geometric model based algorithm and local obstacle avoidance algorithm.Based on the above classification,this paper introduces the representative research results in recent years,analyzes the advantages and disadvantages of various planning algorithms,and forecasts the future development trend of mobile robot path planning,which provides some ideas for the research of robot path planning.