移动机器人全覆盖路径规划算法综述  

Overview of CCPP algorithms for mobile robots

作　　者：纪晴[1] 段培永[1] 李连防[1] 王海鹏[1] 

机构地区：[1]山东建筑大学信息与电气工程学院,山东济南250101

出　　处：《山东建筑大学学报》2007年第4期355-359,共5页Journal of Shandong Jianzhu University

基　　金：山东省优秀中青年科学家科研奖励基金项目(03BS149)

摘　　要：各种应用型移动机器人的设计是目前研究的焦点,它具有广阔的科研价值和市场前景,而路径规划技术是其中关键技术之一。本文系统总结了当前全覆盖路径规划算法的主要研究成果,并在覆盖效率、算法实现难易等指标方面进行比较剖析,探讨了各种算法的优势和不足。最后,提出进一步研究的方向。Nowadays, many countries are focusing on the research of various kinds of mobile robots because of their rich value on scientific research and wide foreground on market. The path planning algorithm is one of the key technologies used in mobile robot design. In this paper, the main achievements on the algorithm research are summarized, some analysis and comparison is showed in the coverage efficiency and the feasibility to achieve the algorithms, and finally, the further research directions are pointed out.

关 键 词：移动机器人 全覆盖路径规划 栅格 子区域 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]