基于GIS地图的移动机器人路径规划  

Path Planning of Mobile Robot Based on GIS Map

作　　者：张丽娟[1] 毕德学[1] 

机构地区：[1]天津科技大学机械工程学院,天津300222

出　　处：《天津科技大学学报》2012年第3期68-70,78,共4页Journal of Tianjin University of Science & Technology

摘　　要：针对移动机器人路径规划实现条件的限制,提出基于GIS(geographic information system)地图的移动机器人路径规划.该方法应用改进A*算法,较好地实现了移动机器人的最优路径规划.在任意给定的地图中,只要确定了机器人的起点和终点,就可以找到该机器人在实际工作环境中符合需求的路径规划轨迹.应用VC++编程进行实验,证明了该方法的有效性.The realization of the mobile robot path planning has certain restrictions. To deal with this problem, a novel mobile robot path planning method based on GIS （geographic information system） map was proposed. The optimal path planning was realized through improved A＇algorithm. If the starting and ending points in any given map are given to a mobile robot, the path of the robot can be traced. The proposed path planning has been proved optimal and can satisfy the requirement of the practi- cal environment. The experiments were based on VC＋＋ and the effectiveness of this method has been proved.

关 键 词：机器人路径规划 GIS地图 改进A'算法 估价函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]