基于动态规划算法的机器人避障路径研究  

Researches of Obstacle-avoiding Paths for Robots Based on the Dynamic Programming Algorithm

作　　者：张昊[1] 罗文广[1] 臧庆凯[1] 

机构地区：[1]广西工学院电子信息与控制工程系,广西柳州545006

出　　处：《广西工学院学报》2011年第4期35-39,共5页Journal of Guangxi University of Technology

基　　金：广西自然科学基金项目(桂科自0832067)资助

摘　　要：为了使复杂的移动机器人路径规划问题得到简化,并减少可行路径的计算量.对避障路径规划问题进行了比较深入的研究.在以可视图法所建的求解环境为基础上,将避障路径规划转化为多阶段决策问题,对每一个阶段的子问题应用改进可视图法和几何逼近算法进行求解,得出各阶段的最短路径.验证表明:该算法是一种正确、高效,实用的算法.In order to simplify the complex path planning feasible path, this thesis explores the path planning for mobile robots and to reduce the computation of of obstacle avoidance in depth. Firstly this paper is based on the problem-solving environment of the visual graph, and transforms the path planning into a matter of multistage decision.Using the improved visual graph and geometry approximation algorithm, this paper solves each stage-problem and gets the shortest path of each stage. It has been proved by computer simulation results that the algorithm is correct, efficient, practical and successful.

关 键 词：蔽障路径规划 动态规划 可视图 最优路径 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]