基于滚动窗口的移动机器人路径规划

借鉴预测控制滚动优化原理 ,研究了全局环境未知且存在动态障碍物情况下的移动机器人路径规划问题。提出的基于滚动窗口的移动机器人路径规划方法充分利用机器人实时测得的局部环境信息 ,并通过有效的场景预测 ,以滚动方式进行在线规划 ,结合了优化和反馈机制 ,具有计算量小、反应迅速的特点。大量仿真结果表明 ,该方法能很好地适应动态不确定环境。

Mobile Robot Path Planning Based on Rolling Windows

Using the rolling optimization concept adopted in predictive control, robot path planning in globally unknown environment with dynamic obstacles is studied. The new robot path planning method based on rolling windows makes full use of the real time environmental information obtained locally by the robot and the path planning is performed on line in a rolling style through effective scenario predictioni. The mechanisms of optimization and feedback are combined in a reasonable way. The planning has low calculation burded and quick response to the changes of the environment. Simulations show that the planning method is well suitable to the dynamic uncertain environment.;