| 基于正态密度函数的滚动窗口路径规划方法 |
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| 引用本文： | 杜宇上.基于正态密度函数的滚动窗口路径规划方法[J].科学技术与工程,2010,10(15). |
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| 作者姓名： | 杜宇上 |
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| 作者单位： | 广东工业大学实验教学部,广州,510006 |
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| 摘 要： | 路径规划是移动机器人智能化的标志.在原有滚动窗口路径规划方法基础上,提出基于正态密度函数的滚动窗口路径规划方法.通过实时检测滚动窗口内的环境信息,结合移动机器人与障碍物之间的距离关系,利用正态密度函数改变机器人偏转角度,实现避障.通过对方法的仿真,表明了所提方法的有效性.
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| 关 键 词： | 路径规划 滚动窗口 正态密度函数 |
| 收稿时间： | 3/5/2010 10:47:31 AM |
| 修稿时间： | 3/11/2010 5:02:31 PM |
A Path Planning Method based on the Rolling Windows with Function of Normal Distribution Density |
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| Du Yushang.A Path Planning Method based on the Rolling Windows with Function of Normal Distribution Density[J].Science Technology and Engineering,2010,10(15). |
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| Authors: | Du Yushang |
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| Abstract: | Path planning is the attribute of intelligence for mobile robot. A method of path planning based on rolling windows with function of normal distribution density for mobile robot was presented in this paper. It was related with the real time information about the rolling windows and the distance between the robot and the obstacle. And the normal distribution density function was selected to accomplish to the obstacle avoidance. Simulation results show that the proposed method is effective. |
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| Keywords: | path planning rolling windows function of normal distribution density |
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