迷宫机器人走迷宫算法仿真设计  

Simulation Design of Maze-solving Algorithm Micromouse

作　　者：范县成 孙新柱[1] 房稳[1] 彭诚[1] 

机构地区：[1]安徽工程大学电气工程学院,安徽芜湖241000

出　　处：《安徽工程大学学报》2017年第1期44-49,共6页Journal of Anhui Polytechnic University

基　　金：安徽省高校自然科学基金资助项目(KJ2014ZD04)

摘　　要：根据目前比较热门的迷宫机器人走迷宫问题,介绍了一种基于控制核心为STM32F407的迷宫机器人走迷宫的算法仿真设计.对于大部分现有迷宫算法不能保证迷宫机器人快速准确地找到指定目标的问题,提出了一种基于改进人工势场法与洪水算法结合的迷宫搜索规划算法.提出的算法增强了迷宫机器人对未知迷宫环境的判断与决策能力,能够准确地实现迷宫路径搜索与路径规划问题,提高搜索冲刺效率,保证了迷宫搜索的时效性与稳定性,实现性能更好的搜索冲刺算法.同时,算法简单容易实现,摆脱了一般算法用时长且执行复杂的缺点.通过数学建模与分析,将该算法应用于实际迷宫机器人实验平台,证明此算法的可行性与时效性.According to the current popular micromouse maze-solving problem,a method based on micromouse control is the core of STM32F407 maze algorithm design and simulation.For most of the existing maze algorithm cannot guarantee micromouse rapid accurate finding of specified target,the paper put forward an improved artificial potential field and flood algorithm combined with the maze search planning algorithm.The proposed algorithm enhances the micromouse in unknown maze environment judgment and decision-making ability,can accurately achieve maze path search and path planning problem,improves the search efficiency for sprint,ensures maze searching the timeliness and stability and achieves better performance of search sprint algorithm.The algorithm is simple and easy to implement,getting rid of the general budget law＇s shortcoming of time-consuming and executing complexity.Through mathematical modeling and analysis,applying the algorithm to real maze robot experimental platform test proves its feasibility and effectiveness.

关 键 词：迷宫机器人 迷宫搜索冲刺 人工势场法 洪水算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]