摘要
考虑车体外形和前轮方向角限制,车型移动机器人路径的空间维数明显增加,常规的规划方法难以获得理想的速度。论文报告了概率方法在车型机器人路径规划上的研究结果,共研究了机器人约束、全局、局部概率路径规划和启发式结点生成等问题。模拟表明,该方法可获得足够好的适合车型机器人移动的次优路径。
Considering the constraint of geometry and steering wheel angle,configuration space dimensions of car-like robot is increased,general path planning method can not be performed well.In this paper,the authors provide the results of probability roadmap method used in car-like robot path planning.The constraint of car-like robot,global method,local method and heuristic roadmap generation are discussed.lt has been performed well in simulation.
出处
《计算机工程与应用》
CSCD
北大核心
2003年第34期93-94,103,共3页
Computer Engineering and Applications
关键词
概率路径规划
车型机器人路径规划
Probability Roadmap Method,car-like robots,path planning
