| 一种移动机器人动态环境下的路径规划 |
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| 引用本文： | 唐建平,宋红生,王东署. 一种移动机器人动态环境下的路径规划[J]. 郑州大学学报(自然科学版), 2012, 0(1): 75-78 |
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| 作者姓名： | 唐建平 宋红生 王东署 |
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| 作者单位： | [1]郑州大学电气工程学院,河南郑州450001 [2]郑州大学国际教育学院,河南郑州450001 |
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| 基金项目： | 国家自然科学基金资助项目,编号61174085; 河南省教育厅自然科学研究项目,编号2010B510019 |
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| 摘 要： | 一种动态环境下自主机器人路径规划的方法由趋于目标的全局运动规划和躲避障碍物的局部运动规划两部分组成.首先通过栅格法建立机器人的工作环境,利用蚁群算法初步规划出机器人的全局优化路径;在此基础上,采用滚动窗口的方法进行局部环境探测和碰撞预测,对动态障碍物实行局部避碰,使机器人安全顺利地到达目的地.该方法适用于环境中同时存在静止和动态障碍物的情况.仿真结果证明该方法有效.
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| 关 键 词： | 移动机器人 蚁群算法 动态避障 滚动窗口 |
Research of Path Planning of Autonomous Robot in Dynamic Environment |
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| TANG Jian-ping,SONG Hong-sheng,WANG Dong-shu. Research of Path Planning of Autonomous Robot in Dynamic Environment[J]. Journal of Zhengzhou University (Natural Science), 2012, 0(1): 75-78 |
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| Authors: | TANG Jian-ping SONG Hong-sheng WANG Dong-shu |
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| Affiliation: | 1.School of Electrical Engineering,Zhengzhou University,Zhengzhou,450001,China; 2.School of International Education,Zhengzhou University,Zhengzhou,450001,China) |
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| Abstract: | A method of path planning for autonomous robot was proposed.The method had two parts including global path planning towards target and local path planning for obstacles avoidance.First,the work environment for the robot was established with grid method.Then a global path was planned using ant colony algorithm,and rolling windows which predicted collision in dynamic environment was adopted to avoid the robot obstacles.The method applied to the circumstances existing static and dynamic obstacles.Finally,the simulation results showed the effectiveness of the method. |
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| Keywords: | autonomous robot ant colony algorithm obstacles avoidance rolling windows |
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