| 基于二层结构的路径规划系统 |
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| 引用本文： | 耿兆丰,吴永敢.基于二层结构的路径规划系统[J].东华大学学报(自然科学版),1993(4). |
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| 作者姓名： | 耿兆丰 吴永敢 |
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| 作者单位： | 中国纺织大学自动化系电气自动化教研室，中国纺织大学自动化系电气自动化教研室 |
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| 摘 要： | 本文提出了智能系统中的二层路径规划子系统,其中的全局路径规划层接收来自任务规划子系统的目标序列,针对已知的静态障碍环境信息,采用基于 Hopfield 人工神经网络(HANN)算法的新型路径规划方法,得出点到点的直线路径(预直线路径)序列,并进行了仿真。局部路径规划与跟踪层接收来自全局路径规划层的预直线路径,考虑全局路径规划层未知的静态和动态障碍,采用势场法来进行局部路径规划与跟踪,并进行了仿真。
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| 关 键 词： | 计算机应用 规划 全局路径规划 局部路径规划与跟踪 势场 Hopfield 人工神经网络 预直线路径。 |
PATH PLANNING SYSTEM BASED ON TWO LEVEL ARCHITECTURE |
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| Geng zhaofeng Wu Yonggan.PATH PLANNING SYSTEM BASED ON TWO LEVEL ARCHITECTURE[J].Journal of Donghua University,1993(4). |
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| Authors: | Geng zhaofeng Wu Yonggan |
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| Institution: | Department of Automation |
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| Abstract: | In this paper,path planning sub-system of two level architecture is presented,which consists ofglobal path planning(GPP)level and local path planning and following(LPPF)level.GPP level re-ceives goal sequences from mission planning sub-system,planning global collision-free and straightpath according to known environment map information,where new type GPP method based on Hop-field Artificial Neural Network algorithm is proposed,and so is the simulation.LPPF level receivesPrepared Straight Path(PSP)from GPP level,planning and following local collision-free path ac-cording to PSP and unknown static or dynamic obstacles in GPP level,where LPPE method based onpotential field is proposed,and so is the simple simulation. |
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| Keywords: | computer applications planning global path planning local path planning and following potential field hopfield artificial neural network prepared straight path |
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