| 基于波碰撞法的机器人路径规划法 |
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| 引用本文： | 王宇燕,崔安吉.基于波碰撞法的机器人路径规划法[J].航天器环境工程,2013,30(4):436-440. |
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| 作者姓名： | 王宇燕 崔安吉 |
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| 作者单位： | [1]中国北方车辆研究所网络与信息中心,北京100072 [2]中国北方通用动力集团有限公司产品研究所,大同037036 |
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| 摘 要： | 文章提出了在离散区域上,基于起始点和目标点相向传播波碰撞法的机器人路径规划法。设机器人作业环境为二维平面大小一定的矩形地形,机器人行走时仅限于作原地转向或直线行走。基于此开展路径规划的仿真研究,提出了搜索许可路径的算法。计算机模拟结果证实该算法可行、有效。
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| 关 键 词： | 移动机器人 碰撞路径 离散波 连续波 路径规划 |
Robot path planning based on wave collision method |
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| Wang Yuyan and Cui Anji.Robot path planning based on wave collision method[J].Spacecraft Environment Engineering,2013,30(4):436-440. |
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| Authors: | Wang Yuyan and Cui Anji |
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| Institution: | 1. Network and Information Center, China North Vehicle Research Institute, Beijing 100072, China; 2. Product Research Department, China North General Power Group Co. Ltd, Datong 037036, China) |
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| Abstract: | The robot path planning algorithm based on wave collision method propagating oppositely from the starting point and goal point is proposed, using the discrete region. Suppose that the robot operating environment map is a two-dimensional plane with a certain rectangular shape, where the robot is walking around or along straight lines. Experimental study was carried out. The computer simulation results show that the algorithm is feasible and effective. |
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| Keywords: | mobile robot collision path discrete wave continuous wave path planning |
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