| 不确定环境下基于动态子目标搜索的移动机器人导航算法及其实现 |
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| 引用本文： | 江贵龙,李晓明,刘全浩,胡旭东.不确定环境下基于动态子目标搜索的移动机器人导航算法及其实现[J].系统仿真学报,2007,19(18):4248-4252. |
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| 作者姓名： | 江贵龙 李晓明 刘全浩 胡旭东 |
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| 作者单位： | 浙江理工大学,集成技术研究中心,杭州,310018 |
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| 摘 要： | 在不确定环境下进行移动机器人的路径规划一直是当今机器人研究领域的一个焦点问题和难点问题。采用最短切线法引入动态子目标,通过分析激光检测系统LMS200采集的数据,在导航途中临时产生一系列子目标来代替真实目标点,提出了一种基于最优动态子目标的搜索的最短路径算法SAS,并在此基础上,对算法进行了改进。在仿真和真实环境下的实验结果都表明方法可行有s效,能够满足移动机器人导航的实时性要求,为移动机器人实现无碰撞局部最优路径规划提供了一种新型实用算法。目前该方法已经成功地应用于浙江理工大学移动机器人ZSTU。
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| 关 键 词： | 移动机器人 路径规划 激光测距系统 动态子目标 最短路径 |
| 文章编号： | 1004-731X（2007）18-4248-05 |
| 收稿时间： | 2006-07-20 |
| 修稿时间： | 2006-10-11 |
Implementation of Algorithms for Mobile Robot Navigation Based on Dynamic Sub-goal Seeking in Unknown Environments |
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| JIANG Gui-long,LI Xiao-ming,LIU Quan-hao,HU Xu-dong.Implementation of Algorithms for Mobile Robot Navigation Based on Dynamic Sub-goal Seeking in Unknown Environments[J].Journal of System Simulation,2007,19(18):4248-4252. |
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| Authors: | JIANG Gui-long LI Xiao-ming LIU Quan-hao HU Xu-dong |
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| Institution: | Research Center of Integration Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China |
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| Abstract: | Path planning within an unknown environment is a challenging and difficult task for mobile robotics. By analyzing the data collected with LMS200,a Shortest-path Algorithms based dynamic Sub-goal (SAS) was proposed. This approach created a number of sub-goals by a method of the shortest tangent as the temporary targets instead of the real one during the navigation,and on this condition,the modifying SAS was proposed. Results of both simulation and real robot experiments verify the effectiveness and feasibility of this approach. This algorithm has been successfully tested on a mobile robot-ZSTU. |
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| Keywords: | mobile robots path planning LMS dynamic sub-goal shortest-path |
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