基于二叉决策的机器人路径规划研究  

The research of the robot path planning based on binary decision

作　　者：黄力[1] 张增芳[2] 朱亚超[2] 

机构地区：[1]柳州职业技术学院,柳州545006 [2]广西工学院计算机工程系,柳州545006

出　　处：《机械设计与制造》2008年第3期156-158,共3页Machinery Design & Manufacture

基　　金：广西自然科学基金资助项目(桂科自0640034)

摘　　要：深入分析与研究了机器人路径规划问题的本质与难点,引入二叉决策理论提出了一种机器人路径规划算法。建立了机器人运动模型和周围环境模型的描述,在此基础上,利用二叉决策理论,提出了机器人路径规划的总体框架,给出了算法流程,定义了GINI系数的计算函数,该算法很好地解决了障碍物规避问题。Has thoroughly analyzed and studied the essence and the difficulty of robot path planning question, propose one kind of robot path planning algorithm based on binary decision theory. Has established the robot movement model and the environment model description, in this foundation, uses the binary decision theory, proposed the robot path planning overall frame, has produced the algorithm flow, has defined the GINI coefficient computation function, this algorithm solved the obstacle to dodge the question well.

关 键 词：二叉决策 机器人 路径规划 GINI 剪枝 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] O225[自动化与计算机技术—控制科学与工程]