移动机器人路径规划算法研究综述

Survey of Path Planning Algorithms for Mobile Robots

为了提高移动机器人导航技术有效性、实时性、安全性和实用性,介绍了移动机器人路径规划的多种主流算法,阐述了算法的核心原理,并针对其核心原理,将算法分为传统全局算法、智能仿生算法和局部规划算法。总结概括了主流算法在不同条件下的发展现状,介绍了当前算法的改进方法,剖析了现阶段优化算法的优势与缺陷。最后,对移动机器人路径规划技术未来的发展方向做出展望。

To improve the effectiveness,real-time,security and practicality of mobile robot navigation technology,this paper introduces various mainstream algorithms of path planning for mobile robots,describes the core principle of algorithms.The algorithms are divided into traditional global algorithm,intelligent bionic algorithm and local planning algorithm.Secondly,the research progress of mainstream algorithms under different conditions is summarized,the current improvement methods of algorithms are introduced,and the advantages and disadvantages of current optimization algorithms are analyzed,respectively.Finally,the outlook of path planning technology for mobile robots is prospected.