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| 基于分层搜索的移动机器人路径优化 | |
| 引用本文： | 李劲松,宋立博,葛志飞,徐兆红,颜国正.基于分层搜索的移动机器人路径优化[J].控制工程,2010,17(2). |
| 作者姓名： | 李劲松 宋立博 葛志飞 徐兆红 颜国正 |
| 作者单位： | 1. 上海交通大学,电子信息与电气工程学院,上海,200240;上海交通大学,工程训练中心,上海,200240 2. 上海交通大学,工程训练中心,上海,200240 3. 上海交通大学,机械与动力工程学院,上海,200240 4. 上海交通大学,电子信息与电气工程学院,上海,200240 |
| 基金项目： | 上海交通大学第13期PRP基金资助项目(T41013012) |
| 摘 要： | 分析比较了经典的全局路径规划算法,针对移动机器人运动路径规划的优化问题,将A*、人工势场、栅格等多种算法的优势加以综合考虑,提出一种基于栅格的分层搜索概念。该方法采用栅格法进行建模,以分层搜索为核心思想,外层采用A*算法将复杂的图元模糊化以简化环境,内层则采用人工势场算法将具体的栅格还原以解模糊,具有一定的理论意义与应用前景。其仿真实验表明,该方法能达到较好的路径规划效率和实时性。 |
| 关 键 词： | 移动机器人 路径规划 分层搜索 全局优化 |
Optimization of Path Planning for Mobile Robot Based on Staged Searching |
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| LI Jin-song,SONG Li-bo,GE Zhi-fei,XU Zhao-hong,YAN Guo-zheng.Optimization of Path Planning for Mobile Robot Based on Staged Searching[J].Control Engineering of China,2010,17(2). | |
| Authors: | LI Jin-song SONG Li-bo GE Zhi-fei XU Zhao-hong YAN Guo-zheng |
| Affiliation: | 1.School of Electronic Information and Electrical Engineering/a>;Shanghai Jiao Tong University/a>;Shanghai 200240/a>;China/a>;2.Engineering Training Center/a>;3.School of Mechanical Engineering/a>;China |
| Abstract: | Classical global path planning algorithms are summarized and analyzed to the optimization problem of path planning mobile robots.A grid-based staged searching method is presented,which synthesizes the advantages of the A* algorithm,the artificial potential field algorithm and the cell algorithm.The essential of the method is modeling by grids and searching path based on stages.The outer stage uses A* algorithm to fuzzify the complicated path environments,and the inner stage uses artificial potential field a... |
| Keywords: | mobile robot path planning staged searching global optimization |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |
