距离值传播路径规划算法的改进  

Improved Distance Value Propagation Path-Planning Algorithm

作　　者：向学辅[1] 

机构地区：[1]中国兵器工业第五八研究所军品部,四川绵阳621000

出　　处：《兵工自动化》2008年第10期73-75,80,共4页Ordnance Industry Automation

基　　金：新世纪优秀人才支持计划(NCET-04-0889)

摘　　要：提出通行便利程度属性来描述环境地图表面的不平整性对移动机器人路径规划的影响,并引入到距离值传播路径规划算法中为移动机器人规划路径。改进后的算法更具有实用性。在距离值传播路径规划算法的基础上,对环境地图表面的每个点规定多个通行便利程度属性值,根据该点距离值传播方向引入响应的通行便利程度属性值。通过仿真实验验证,提出的通行便利程度属性模型能适当的描述地图表面的不平整性对路径规划的影响,提高了原始算法的实用价值。Present pass convenient level attributes to describe influence of roadway roughness act on path-planning of mobile robots, and make it operating in robot-path planning procedure for distance propagation algorithm. The improved algorithm is more practical for planning path. Based on the distance value propagation path-planning algorithm, define multiple attribute values of convenient level for each grid on the map, and then introduce response pass convenient level attributes in light of direction of propagation of the grid＇s distance value. The emulation shows that the model based on the algorithm can properly describe the roadway roughness and is more practical than the basic algorithm.

关 键 词：路径规划算法 移动机器人 避障 动态规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]