Simple Path Planning for Mobile Robots in the Present of Obstacles  

障碍物空间中汽车式移动机器人路径规划方法(英文)

作　　者：贾艳华[1] 梅凤翔[1] 

机构地区：[1]北京理工大学应用力学系,北京100081

出　　处：《Journal of Beijing Institute of Technology》2002年第2期208-211,共4页北京理工大学学报（英文版）

基　　金：SponsoredbyNationalNaturalScienceFoundation(19972 0 10 ) ;FundforResearchonDoctoralProgramsinInstitutionsofHigherLearning

摘　　要：To obtain the near optimal path for the mobile robots in the present of the obstacles, where the robots are subject to both the nonholonomic constraints and the bound to the curvature of the path, a simple planning is applied by the heuristic searching method in which Reeds and Shepp’s shortest paths are chosen as heuristic functions. It has performed well in simulation of mobile robots moving in a cluttered environment.研究障碍物空间中汽车式移动机器人路径规划问题 ,使用简单的启发式搜索方法为受非完整约束且转弯半径受限的汽车式移动机器人规划近优路径 ,最小长度可行路径被选择作为启发函数 .

关 键 词：configuration space car  like mobile robots path planning nonholonomic constraints 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]