摘要
路径规划技术是移动机器人避开障碍物且快速移动到目标点的有效方法。为了了解不同环境条件下路径规划策略的发展,找出研究差距,回顾了移动机器人及其路径规划的发展历史;将移动机器人路径规划算法分为两大类:基于先验信息的全局路径规划和基于传感器信息的局部路径规划,重点对相关算法进行了优缺点概述以及分析总结;此外列举了一些新颖的方法,目的是缩短移动机器人的规划时间,亦或是得到最优的路径;强调了移动机器人路径规划算法在未来的几个可以深入研究的方向。
The robot is no longer a distant object,and the path planning technology is an efficient way for the robot's ability to avoid obstacles and move quickly to the target point.In order to understand the development of path planning strategies under different environmental conditions and find out the research gap,this paper reviews the development history of mobile robot and its path planning.Then,the path planning algorithms of mobile robots are divided into two categories:global path planning based on prior information and local path planning based on sensor information,and the advantages and disadvantages of the related algorithms are summarized and analyzed.Some novel methods are also listed in order to shorten the planning time of the mobile robot or to get the optimal path.Finally,several directions for further research on the path planning algorithm of mobile robots in the future are emphasized.
作者
王旭
朱其新
朱永红
WANG Xu;ZHU Qixin;ZHU Yonghong(School of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou,Jiangsu 215009,China;School of Mechanical Engineering,Suzhou University of Science and Technology,Suzhou,Jiangsu 215009,China;Jiangsu Province Key Laboratory of Intelligent Building Energy Efficiency,Suzhou,Jiangsu 215009,China;Suzhou Key Laboratory of Coexisting-Cooperative-Cognitive Robot Technology,Suzhou,Jiangsu 215009,China;School of Mechanical and Electronic Engineering,Jingdezhen Ceramic University,Jingdezhen,Jiangxi 333001,China)
出处
《计算机工程与应用》
CSCD
北大核心
2023年第20期51-66,共16页
Computer Engineering and Applications
基金
国家自然科学基金(51875380,62063010,51375323)
泰州市科技支撑计划(TG202117)。
