滚动窗口局部路径规划在未知环境中的应用

为了实现未知复杂环境下机器人的局部路径规划,提出了一种新的局部路径规划方法,使机器人自主探测周边障碍物情况.通过滚动窗口计算局部目标等途径进行路径规划,从而实现机器人无碰撞到达全局目标点.该方法可以使机器人在未知复杂环境中较快较好地进行路径规划.仿真试验表明该方法具有可行性、有效性和实时性.

A new path planning method based on rolling windows in unknown environment

In order to achieve the local path planning for robot in unknown and complex environment,a new method of local path planning is presented.The robot automatically detects obstacles around,plans path by calculating the local target in the rolling window,so that robot can reach global target without collision.Through this method,in unknown and complex environment,robot can plan path faster and better.The simulation experiments show that this method is feasible,effective and is of realtime.