未知环境下基于可拓策略的路径规划  

Path planning based on extension strategy in unknown environment

作　　者：叶玮琼[1,2] 余永权[2] 

机构地区：[1]湖南工业大学计算机与通信学院,湖南株洲412000 [2]广东工业大学智能工程所,广州510090

出　　处：《计算机工程与应用》2010年第19期10-13,17,共5页Computer Engineering and Applications

基　　金：广东省自然科学基金(No.05001801)~~

摘　　要：将可拓策略应用于移动机器人路径规划,提出了一种新的路径规划算法。该方法在绕障时引入临时目标,模拟了人在未知环境中的路径选择,使得环境信息得到有效压缩,避免了在实时计算过程中对复杂环境的建模。基于安全距离的关联函数得到的评价函数,使得所选路径更加平滑,并且降低了对机器人自身控制及传感器测量精度的要求。由于拟人策略的鲁棒性,极大地缓解了其他传统方法的振荡及局部最小现象。实验及仿真均表明该方法实时性好,规划所得路径优于已有方法。This paper proposes a new algorithm by appling the extension strategy in path planning of mobile robot.The new ways use temporary aims in obstacle avoidance to imitate human＇s selection in unknown environment.So the environment information is efficiently compressed and the modeling of complicated environment can be avoided in the process of real time calculating.The dependent function based on safety distance together with judgement function makes the selected path smoother,and reduces the demand of the robot＇s self-control level and the sensor＇s measurement accuracy.Due to robust of the strategy of human imitating,the surge and the local minimum can be cut down.Both experiments and simulations prove this method get better effect than the others.

关 键 词：路径规划 可拓策略 移动机器人 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]