室内移动机器人路径规划算法  

A Path Planning Method for Indoor Mobile Robots

作　　者：高翔[1] 郭卫东[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械工程与自动化》2015年第1期168-170,共3页Mechanical Engineering & Automation

摘　　要：路径规划是移动机器人导航技术中的核心问题。在以往的研究中,机器人被视为一个点并且优化的目标为使路径最短,这种建模方法得到的路径往往不具有良好的可执行性。讨论了一种考虑路径平滑度和路径安全度的规划算法,并通过带惩罚函数的粒子群算法对其进行求解。最后在MATLAB中通过仿真试验验证了算法的有效性。Path planning is a core problem in the navigation technology of autonomous mobile robots.However,robots are modeled as points and the path length is considered as a only optimization target in previous research.Sometimes results of this kind of modelling method are infeasible.In this paper,a novel path planning algorithm which considers path smoothness and path safety is proposed.Then a solution based on particle swarm optimization（PSO）algorithm combined with the penalty function is discussed.At last,a simulation experiment in MATLAB is implemented to verify the effectiveness of the algorithm.

关 键 词：移动机器人 路径规划 粒子群算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]