一种通用的移动机器人路径规划仿真系统  

A General-Purpose Moving Robot Path-planning Simulation System

作　　者：胡世亮[1] 席裕庚[1] 

机构地区：[1]上海交通大学自动化研究所,上海200030

出　　处：《系统仿真学报》2004年第8期1714-1716,1720,共4页Journal of System Simulation

基　　金：国家863计划资助(2001AA422140)

摘　　要：提出了一种通用的路径规划仿真系统的设计方案,详细描述了系统的模型结构和运行方式,并介绍了系统的关键技术特点。仿真系统中算法设计独立,扩充性好,仿真功能和交互能力强大,具有并发检验能力,极大的方便了路径规划算法的研究工作,并能进一步用于多机器人的路径规划仿真研究。Architecture for general-purpose moving robot path-planning simulation system is presented. The modeling method and execute mode is described in detail. Several key techniques are introduced in addition. The design of algorithm in the system is independent, which makes the system to be easily utilized with new algorithm. The strong functions in simulation and interface, together with the ability to check concurrency problems bring great convenience for the research work in path-planning algorithm and make it possible to simulate multi-robot path-planning.

关 键 词：路径规划 仿真 面向对象技术 程序结构 多机器人 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]