| 一种机器人路径规划的元胞自动机算法 |
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| 引用本文： | 闻凯,王从庆.一种机器人路径规划的元胞自动机算法[J].科技信息,2010(5). |
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| 作者姓名： | 闻凯 王从庆 |
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| 作者单位： | 南京航空航天大学金城学院; |
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| 基金项目： | 基金颁发部门:江苏省科委应用基础研究基金委;项目名称:机器人可视化仿真研究,编号:BJ98057;基金申请人:王从庆 |
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| 摘 要： | 利用元胞自动机模型解决移动机器人的运动路径规划问题。该算法环境空间已知且被分解成规则的方形元胞网格,机器人根据转换规则由当前元胞向邻居元胞移动最终形成最优路径。最后在实验环境中进行仿真,结果显示在机器人起点和终点的运动方向有约束的情况下也能迅速规划出最优路径,表明了该算法的可行性和有效性。
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| 关 键 词： | 元胞自动机 机器人 已知环境 路径规划 |
An Algorithm of Robot Path-planning with Cellular Automata |
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| WEN Kai WANG Cong-qing.An Algorithm of Robot Path-planning with Cellular Automata[J].Science,2010(5). |
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| Authors: | WEN Kai WANG Cong-qing |
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| Institution: | College of Jincheng/a>;Nanjing University of Aeronautics and Astronautics/a>;Nanjing Jiangsu/a>;211156 |
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| Abstract: | This paper presented the use of Cellular Automata for the solution of the path planning problem for a mobile robot.In this research of algorithm,we used a regular decomposition model only in a known environment with a tessellation of square cells.The robot moved to the nearest neighbor cell with the transition rules for an optimum path.The results of experiment show even the robot with constant start or end orientation the path is fleetly accomplished,and the feasibility and validity of the research. |
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| Keywords: | Cellular Automata Robot Known Environment Path-planning |
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