摘要
路径规划是实现移动机器人自主导航的关键技术之一。针对移动机器人路径规划的特点,本文将其划分为基于图搜索的路径规划算法、基于采样的路径规划算法以及考虑动力学约束的路径规划算法。基于这些分类系统地总结了路径规划领域的研究现状,并着重分析了各类规划算法的优缺点。最后,对移动机器人路径规划的未来发展趋势进行了展望,为进一步推动移动机器人路径规划研究提供了有益的思路和指导。
Path planning is one of the key technologies to realize autonomous navigation of mobile robots.For the characteristics of mobile robot path planning,this paper classifies them into path planning algorithms based on graph search,path planning algorithms based on sampling,and path planning algorithms considering dynamics constraints.Based on these classifications,the current status of research in the field of path planning is systematically summarized,and the advantages and disadvantages of each type of planning algorithm are highlighted.Finally,the future development trend of path planning for mobile robots is prospected,which provides useful ideas and guidance to further promote the research of path planning for mobile robots.
作者
王雅清
倪晓昌
李静
周杰
杜博文
WANG Yaqing;NI Xiaochang;LI Jing;ZHOU Jie;DU Bowen(School of Electronic Engineering,Tianjin University of Technology and Education,Tianjin 300222,China)
出处
《智能计算机与应用》
2024年第11期211-216,F0003,共7页
Intelligent Computer and Applications
基金
天津市教委科研计划项目(2021KJ003)。
关键词
移动机器人
路径规划
算法分类与总结
图搜索
动力学约束
mobile robot
path planning
algorithm classification and summary
graph search
dynamics constraints
