基于栅格-几何混合地图的移动机器人分层路径规划  

A Hierarchical Path Planning Strategy for Mobile Robot Based on Grid-Geometric Map

作　　者：张波涛[1] 刘士荣[1,2] 董德国[1] 

机构地区：[1]华东理工大学自动化研究所,上海200237 [2]杭州电子科技大学自动化学院,杭州310018

出　　处：《华东理工大学学报（自然科学版）》2011年第5期621-626,共6页Journal of East China University of Science and Technology

基　　金：国家自然科学基金(60675043;61175093);浙江省科技计划基金(2007C21051)

摘　　要：针对人工势场法中的死锁问题以及栅格地图中的可行空间损失问题,提出了一种基于特征与栅格混合地图的分层路径规划方法。上层使用改进的A*算法在高粒度的栅格地图中找到基本路径,以此克服人工势场中的死锁以及传统A*算法的回溯问题。为减小人工势场的抖振问题,提出了一种惯性人工势场法(I-APF),并用I-APF在底层中对基本路径进行平滑处理。仿真实验结果表明:该路径规划策略可以有效地降低计算消耗,所规划的路径优于单纯的栅格法或惯性人工势场法。Aiming at the deadlock problem of artificial potential field（APF） and the lost problem of feasible workspace in grid map,a hierarchical path planning strategy based on grid-geometric map was proposed.By adopting improved A＊ algorithm in upper layer to search for a basic route in high-class granularity grid map,both the deadlock problem of APF and backtracking problem in traditional A＊ algorithm can be overcome.To reduce buffeting problem,inertial artificial potential field（I-APF） was introduced to smooth the basic route in bottom layer.Simulation results show that the proposed strategy can effectively decrease computational consumption,and the searched route is obviously better than the one according to pure grid method or I-APF method.

关 键 词：移动机器人 栅格-几何地图 惯性人工势场 A＊算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]