移动机器人的路径规划技术研究

Research on Path Planning Technology of Mobile Robot

路径规划是移动机器人导航的关键技术,其主要应用于移动机器人在静态地图下的自主巡航、实时避障、目标搜索。移动机器人通过静态地图和自身的传感模块感知当前环境下的多变因素,通过分析起始位置和目标位置,利用算法进行路径分析优化,提高其任务完成的高效性、线路最优性以及实时避障能力。针对移动机器人路径规划在不同场景下的应用,其被划分为全局路径规划和局部路径规划。对近年来出现的典型研究算法的原理、应用场景进行了阐述,对其重要指标进行对比,分析算法的优缺点,介绍了各个算法的优化方向,并对移动机器人的路径规划算法的改进方向进行了分析和讨论,最后对其发展进行了展望,提出了算法发展趋势是智能化、融合化的观点,并指出了实现路径。

Path planning is the key technology of mobile robot navigation. It is mainly used in autonomous cruise, real-time obstacle avoidance and target search of mobile robot under static map. The mobile robot senses the changeable factors in the current environment through the static map and its own sensing module. By analyzing the starting position and target position, the mobile robot uses the algorithm to analyze and optimize the path, so as to improve the efficiency of task completion, route optimization and real-time obstacle avoidance ability. For the application of mobile robot path planning in different scenarios, it is divided into global path planning and local path planning. The principles and application scenarios of typical research algorithms in recent years were expounded, the important indexes were compared, the advantages and disadvantages of the algorithms were analyzed, and the optimized direction of each algorithm was introduced. The improvement direction of mobile robot path planning algorithm was analyzed and discussed, and its development was prospected. It was pointed out that the development trend of the algorithm was intelligent and integrated, as well as its implementation path.