| 未知环境下基于快速搜索随机树的机器人路径滚动规划 |
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| 引用本文： | 蔡文彬,朱庆保.未知环境下基于快速搜索随机树的机器人路径滚动规划[J].南京师范大学学报,2009,9(2):79-83. |
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| 作者姓名： | 蔡文彬 朱庆保 |
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| 作者单位： | 南京师范大学,计算机科学与技术学院,江苏,南京,210097
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| 基金项目： | 国家自然科学基金，江苏省自然科学基金 |
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| 摘 要： | 在未知环境下,移动机器人没有全局信息,一次只能规划出探测范围内的局部路径.针对这一特点,提出了一种全新的基于滚动窗口的快速搜索随机树算法.该算法以机器人出发点为根节点,充分利用机器人实时测得的局部环境信息,以滚动方式进行在线扩展,逐渐增加叶节点直至随机树的叶节点包括了目标节点,从根节点到目标节点的随机树的边即为规划出的路径.大量仿真实验表明,即使在障碍物非常复杂的未知地理环境下,该算法也能快速规划出一条全局优化路径,且能安全避障.
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| 关 键 词： | 移动机器人 滚动规划 快速搜索随机树 未知环境 |
Rolling Path Planning of Robot Based on Rapidly Exploring Random Tree in an Unknown Environment |
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| Cai Wenbin,Zhu Qingbao.Rolling Path Planning of Robot Based on Rapidly Exploring Random Tree in an Unknown Environment[J].Journal of Nanjing Nor Univ: Eng and Technol,2009,9(2):79-83. |
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| Authors: | Cai Wenbin Zhu Qingbao |
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| Affiliation: | School of Computer Sciences;Nanjing Normal University;Nanjing 210097;China |
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| Abstract: | In a complex unknown environment,mobile robot doesn't own global information so that it can only make a plan about the local path which falls into its detectable area.In allusion to the feature,a new rapidly exploring random tree algorithm for path planning is put forward to plan an optimal path for mobile robot,which is based on rolling window.According to the algorithm,the start-point of the mobile robot is regarded to be the root node.Besides,full use is made of local environmental information detected b... |
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| Keywords: | mobile robot rolling plan rapidly exploring random tree unknown environment |
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