启发式方法在机器人路径规划优化中的应用综述  

Application of Heuristic Approaches in the Robot Path Planning and Optimization: A Review

作　　者：盛亮 包磊[1] 吴鹏飞 SHENG Liangl＇;BAO Lei;WU Peng-fei(College of Electronics Engineering,Naval University of Engineering,Wuhan 430033,China;Department of Carrier-Based Aircraft,Aviation University of Navy,Huludao 125001,China)

机构地区：[1]海军工程大学电子工程学院,武汉430033 [2]海军航空大学舰载机系,辽宁葫芦岛125001

出　　处：《电光与控制》2018年第9期58-64,共7页Electronics Optics & Control

摘　　要：机器人路径规划是指按照一定的寻优策略规划出从起始位置到目的地的尽可能最优的无碰路径。路径规划技术分为传统方法和启发式方法两大类。综述了多种启发式方法在机器人路径规划优化领域的研究现状,分析了不同算法的性能和适应场景;此外,考虑到人工势场法在路径规划中所表现的优良品质,也研究了其最新技术进展。最后对比分析了各种算法的优缺点,指出方法的深度融合应是路径规划技术的未来发展方向。Path planning of robot refers to the planning of an optimal collision-free path from the starting position to destination according to a certain optimization strategy. There are two suggested techniques covering all approaches in robot path planning ：the traditional method and the heuristic method. This paper reviews the research status of different heuristic approaches in robot path planning and optimization, and then analyzes the performance and applicable scenarios of different algorithms. In addition, the latest technological progresses are also presented considering the superior quality of the artificial potential field method in the path planning. Finally, the advantages and disadvantages of various algorithms are analyzed, and it is proposed that the deep integration of the algorithms should be the future direction of the path planning technology.

关 键 词：路径规划 深度融合 启发式方法 人工势场法 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置]