机器人室内路径规划算法的实用性研究  

Practical Research on Robot Path Planning Algorithm

作　　者：周嵘[1] 张志翔[1] 翟晓晖 闵慧芹 孔庆杰[2] 

机构地区：[1]河海大学机电工程学院,江苏常州213022 [2]河海大学水利水电学院,江苏南京210098

出　　处：《机械与电子》2016年第8期71-75,共5页Machinery & Electronics

摘　　要：机器人研究领域中的一个关键分支即路径规划技术,本课题在机器人P3-DX实验平台的基础上,通过栅格化建模对室内的环境实现分块。4种路径规划——回字形路径规划、迂回式路径规划、启发式路径规划与包围式路径规划的可行性已经得到验证,为验证4种路径规划的实用性,在真实环境中将这4种路径规划算法进行了实验研究,通过软件将机器人行走后返回的数据绘制出相应的路线图,同时,根据各路径规划算法的路线图的不同重复率与覆盖率,找出效率较高的路径规划算法。Path planning is an important branch in the field of robot research, and its research has been a hot topic. In this paper, based on the experimental platform for robot P3 -DX, the indoor environment is divided into blocks using the grid modeling method. The feasibility of the four path planning back path planning, alternate path planning, heuristic path planning and bounding path planning, has been verified. In order to verify the practicability of the four path planning, the four path planning algorithms are studied in the real environment. According to the data returned by the robot after walking, we plot a road- map through software. At the same time, according to the path planning algorithm of the roadmap for the different repetition rates and coverage rates, we find out the efficient path planning algorithm.

关 键 词：路径规划 机器人P3-DX 栅格化 重复率 覆盖率 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]