| 动态障碍物环境下移动机器人路径规划 |
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| 引用本文： | 王于,林良明,颜国正.动态障碍物环境下移动机器人路径规划[J].上海交通大学学报,2002,36(10):1430-1434. |
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| 作者姓名： | 王于 林良明 颜国正 |
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| 作者单位： | 上海交通大学,电子信息学院,上海,200030 |
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| 摘 要： | 以机器人基本避障碍策略与启发式动态规划法相结合的方法，研究了在障碍物轨迹已知的动态环境中机器人的路径规划问题，根据机器人与单个障碍物可能的碰撞情况，分别提出了几种避障碍,伙子目标和相应的速度。根据这些策略，在机器人当前视窗内，将形成一个策略树，采用启发式动态规划算法，依据时间和路径费用最小原则，找出一个最优策略集，即最优子目标集，这种规划方法大大缩小于机器人子目标搜索空间。
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| 关 键 词： | 动态障碍物 移动机器人 路径规划 启发式动态规划 避障策略 时间费用最小原则 路径费用最小原则 |
| 文章编号： | 1006-2467(2002)10-1430-05 |
| 修稿时间： | 2001年7月31日 |
Robot Path-Planning in a Moving-Obstacle Environment |
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| WANG Yu,LIN Liang ming,YAN Guo zheng.Robot Path-Planning in a Moving-Obstacle Environment[J].Journal of Shanghai Jiaotong University,2002,36(10):1430-1434. |
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| Authors: | WANG Yu LIN Liang ming YAN Guo zheng |
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| Abstract: | In a dynamic environment, a robot's collision free algorithm combining robot's basic collision avoidance strategies with the heuristic dynamic programming was presented. Several collision situations between the robot and single obstacle were analyzed, and for each situation, several basic collision free strategies were studied. The content of each strategy includes one sub goal and robot's corresponding velocity. According to these strategies, in the robot's current view, a tree of sub goals is created, and a heuristic dynamic programming is adopted to find a set of optimal strategies, or a set of optimal sub goals. |
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| Keywords: | heuristic dynamic programming moving obstacle path planning robot |
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