基于改进Dijkstra算法的机器人路径规划方法

本文提出一种利用栅格法和改进的Dijkstra算法进行机器人路径规划的方法。该方法利用栅格法对机器人的工作环境进行表示,利用改进的Dijkstra算法进行最短路径的搜索。应用该方法在对环境细化到包含10000个栅格节点的情况下，在主频1．7GHZ的计算机上规划路径的时间最长不超过0．3秒。实践证明该方法具有实时性和路径最优性。

A Dijkstra Algorithm Based Approach for Robot Path Planning

This paper proposes a robot path planning approach based on grid method and improved Dijkstra algorithm. The environment is represented by grid method and the shortest path is constructed by improved Dijkstra algorithm. When planning the shortest path in the environment which is divided into 10000 grids by way of this approach proposed in the paper on a computer with a primary frequency of 1.7 GHz , the maximum time needed is less than 0.3 seconds. The approach proves to be flexible and practicable, and can guarantee the path is the shortest.