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基于波碰撞法的機(jī)器人路徑規(guī)劃法

Robot path planning based on wave collision method

  • 摘要: 文章提出了在離散區(qū)域上，基于起始點(diǎn)和目標(biāo)點(diǎn)相向傳播波碰撞法的機(jī)器人路徑規(guī)劃法。設(shè)機(jī)器人作業(yè)環(huán)境為二維平面大小一定的矩形地形，機(jī)器人行走時(shí)僅限于作原地轉(zhuǎn)向或直線行走。基于此開展路徑規(guī)劃的仿真研究，提出了搜索許可路徑的算法。計(jì)算機(jī)模擬結(jié)果證實(shí)該算法可行、有效。

     

    Abstract: The robot path planning algorithm based on wave collision method proagating oppositely from the staning 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 me 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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