Robot path planning in globally unknown environments based on rolling windows  

作　　者：张纯刚 席裕庚 

出　　处：《Science China(Technological Sciences)》2001年第2期131-139,共9页中国科学（技术科学英文版）

基　　金：the National 973 Plan (Grant No. G1998030415) ;and the National Natural Science Foundation of China (Grant No. 69774004) ;and the National 863 Program (Grant No. 9805-18).

摘　　要：In this paper, robot path planning in globally unknown environments is studied. Using the rolling optimization concept in predictive control for reference, a new strategy of path planning for a mobile robot, based on rolling windows, is proposed. The method makes full use of the real-time local environmental information detected by the robot and the on-line path planning is carried on in a rolling style. Optimization and feedback are combined in a reasonable way. The convergence of the planning algorithm is also discussed.

关 键 词：robot path planning rolling planning CONVERGENCE predictive control 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]