移动机器人路径规划算法仿真及实现  

Simulation and Implementation of Path Planning Algorithm for Mobile Robots

作　　者：郭昭烽 谢玲[2] 刘红英[2] 邱池健 GUO Zhaofeng;XIE Ling;LIU Hongying;QIU Chijian(Everbright Environmental Technology(China)Co.,Ltd.,Nanjing 211102,China;Nanjing University of Science and Technology ZiJin College,Nanjing 210046,China)

机构地区：[1]光大环境科技(中国)有限公司,江苏南京211102 [2]南京理工大学紫金学院,江苏南京210046

出　　处：《软件工程》2022年第4期25-29,共5页Software Engineering

基　　金：江苏省教育厅高等学校自然科学研究面上项目(19KJD520007,19KJB520039);南京理工大学紫金学院科学研究项目(2018ZRKX0401005).

摘　　要：机器人路径规划是机器人领域的一个重要分支,而路径规划算法是机器人的核心内容。本文重点研究路径规划算法,包括基础路径搜索,静态环境、动态环境的路径规划算法,通过仿真实验确定算法的可行性,并进行优化。最后,通过移动机器人实体验证路径规划算法。采用Python作为开发语言,先采用Pycharm作为开发环境并进行算法的实验仿真和对比;随后采用JupyterLab作为开发平台,使移动机器人能按照算法给出的路径移动。实验结果表明该算法可行。Robot path planning is an important branch in the field of robotics,and path planning algorithm is the core of robots.This paper focuses its study on the path planning algorithm,including the basic path search and the path planning algorithm in both the static and dynamic environments.The algorithm feasibility is determined through simulation experiments,and then the algorithm is optimized.Finally,the path planning algorithm is verified by the real mobile robot.First,development language Python and development environment Pycharm are used to conduct experimental simulation and comparison of algorithms.Then JupyterLab is used as the development platform,so that the mobile robot can move along the path given by the algorithm.Experimental results show that the algorithm is feasible.

关 键 词：移动机器人 路径规划 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]