移动机器人在线路径规划算法研究

主要讨论了不确定环境下移动机器人运动路径的在线规划算法。在此方法中 ,预定目标被定为吸引子 ,而障碍物被定为排斥子。这样 ,路径规划就转换为应用牛顿定理进行迭代计算。该算法简便 ,实时性强 ,能自动地适应工作环境中障碍物的位置变化和随机出现 ,使机器人准确避开障碍 ,安全到达目的地。实验结果表明 ,此算法效果良好。

A Study on On-Line Planning Algorithm of Mobile Robot

An on-line planning algorithm of mobile robot is talked about in this paper. In the algorithm, candidate targets are defined as attractors, while obstacles are defined as repellers. Path planning has been changed to use an iterative Newton scheme that can readily adapt to changes in the environment. The algorithm is simple and can react the changes which include the obstacle changing and appearing abruptly in real-time. Using it the robot can avoid the obstacle accurately and reach the goal safely. The simulation result shows that the method is effective.