| 基于栅格法的机器人路径规划 |
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| 引用本文： | 王娟娟,曹凯.基于栅格法的机器人路径规划[J].农业装备与车辆工程,2009(4). |
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| 作者姓名： | 王娟娟 曹凯 |
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| 作者单位： | 山东理工大学交通与车辆工程学院,山东,淄博,255049 |
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| 摘 要： | 阐述了基于栅格法的机器人路径规划算法问题.首先通过将不完全可行栅格归于完全可行栅格,在粗略划分整个工作环境的情况下,采用概率搜索方法,先获得一条次优最短路径,然后在此基础上,将不完全可行栅格还原到原工作环境,剔除无效栅格后,通过将栅格长度等比递减的策略,最终获得一条所需精度下的最短无碰撞路径.
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| 关 键 词： | 移动机器人 路径规划 栅格法 等比递减 |
Path-Planning for Robot Based on Grid Algorithm |
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| WANG Juan-juan,CAO Kai.Path-Planning for Robot Based on Grid Algorithm[J].Agricultural Equipment & Vehicle Engineering,2009(4). |
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| Authors: | WANG Juan-juan CAO Kai |
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| Institution: | School of Traffic & Vehicle Engineering;Shandong University of Technology;Zibo 255049;China |
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| Abstract: | An algorithm using grid for robot's path planning was proposed. Using probability search, a sub-optimal shortest path was obtained first under the entire searching environment divided roughly through no entirely feasible grids belonging to entirely feasible grids. Then, by returning no entirely feasible grids to original environment and removing those invalid grids, a shortest collision-free path was obtained under the isocon descending strategy of grid length. |
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| Keywords: | mobile robot path planning grid method isocon descending |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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