| 基于分层栅格地图的移动机器人路径规划 |
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| 引用本文： | 于晓天,高秀花,张俊,郑冰环,费雯凯.基于分层栅格地图的移动机器人路径规划[J].导航与控制,2017,16(2):30-36. |
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| 作者姓名： | 于晓天 高秀花 张俊 郑冰环 费雯凯 |
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| 作者单位： | 北京航天微系统研究所,北京,100094 |
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| 摘 要： | 针对传统A-Star算法与模糊控制算法单独应用于移动机器人路径规划时各自的局限性,提出一种基于分层栅格地图并将两种算法融合的移动机器人路径规划新方法.融合后的新算法先利用A-Star算法在高层栅格地图中整体规划出一条概括性路径,再利用模糊控制算法以概括性路径中的点为导航点,在底层栅格地图中进行局部规划,从而得出最终的路径.仿真结果表明,与传统的A-Star算法与模糊控制算法相比较,新算法所规划路径距离较短且平滑可行,具有较高的品质.
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| 关 键 词： | 路径规划 A-Star算法 模糊控制算法 分层栅格地图 融合算法 |
Path Planning of Mobile Robot Based on Hierarchical Grid Map |
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| YU Xiao-tian,GAO Xiu-hu,ZHANG Jun,ZHENG Bing-huan and FEI Wen-kai.Path Planning of Mobile Robot Based on Hierarchical Grid Map[J].Navigation and Control,2017,16(2):30-36. |
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| Authors: | YU Xiao-tian GAO Xiu-hu ZHANG Jun ZHENG Bing-huan and FEI Wen-kai |
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| Institution: | Beijing Aerospace Institute of Microsystems,Beijing Aerospace Institute of Microsystems,Beijing Aerospace Institute of Microsystems,Beijing Aerospace Institute of Microsystems and Beijing Aerospace Institute of Microsystems |
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| Abstract: | According to the limitation of the traditional A-Star algorithm and the fuzzy control algorithm applied to the path planning of mobile robot, this paper presents a new method based on the hierarchical grid map and the fusion of these two kinds of algorithm. The fusion algorithm plans a general path in the top grid map by using the A-Star algorithm. Then based on the navigation point in the general path, the fusion algorithm concludes the final path in the bottom gird map by using the fuzzy control algorithm. The simulation results show the path planned by fusion algorithm has more excellent character than the path planned by the other two algorithms |
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| Keywords: | path planning A-Star algorithm fuzzy control algorithm hierarchical map fusion algorithm |
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