未知环境下基于三次螺线Bug算法的移动机器人路径规划

研究了环境未知情况下的移动机器人实时路径规划问题，将Bug算法与基于滚动窗口的路径规划相结合，提出了一种改进的移动机器人路径规划方法。详细分析了三次螺线作为移动机器人跟踪路径所具有的各种优异的几何特性，定义路径光滑成本函数，利用三次螺线对滚动窗口内规划的路径光滑化，使得移动机器人易于跟踪所规划的路径，扩展了移动机器人的应用领域。最后对本文算法的收敛性和完备性予以证明。仿真实验验证了该方法的有效性。

Path Planning for Mobile Robot in Unknown EnvironmentBased on Cubic Spiral Bug Algorithm

An improved path planning for mobile robot in unknown environment is proposed, in which the Bug algorithm and rolling path planning are combined. The cubic spiral for mobile robot path tracking is well studied here and some excellent characteristics are found. Then the cubic spiral curve is used to smooth the collision-free path by defining the cost functions of path for smoothness. Therefore the mobile robot is easy to track and the application field of mobile robot is extended. At last the proof of convergence and completeness is given. Simulation results verify the effectiveness of this method.