摘要
路径规划是移动机器人的核心问题之一。以势场栅格法为前提,在首次得到安全路径的基础上,去掉无效栅格,将剩余栅格长度等比递减,再次以同样方法规划路径。通过对移动机器人在不同环境下的改进前后的2次路径规划结果进行比较知,采用改进后的势场栅格法所得到的路径,距离更短且安全有效。
Path planning is one of the robot core problems.On premise of potential grid method,invalid grid was removed based on first safety path,then used isocon descending strategy of grid length,meanwhile new path was planned with same method.The two paths unimproved and improved were compared,and the result showed that path improved had a shorter distance and was safe and effective.
出处
《煤矿机械》
北大核心
2012年第8期74-76,共3页
Coal Mine Machinery
关键词
移动机器人
路径规划
势场栅格法
等比递减
mobile robot
path planning
potential grid method
isocon descending
作者简介
杨杰（1983-），河南灵宝人，硕士研究生，研究方向：智能机器人技术。电子信箱：iyangjie@qq．com．
