计算机应用与软件2011，Vol.28Issue(2)：172-175,194,5.
动态不确定环境下移动机器人的在线实时路径规划
ON-LINE REAL-TIME PATH PLANNING FOR MOBILE ROBOTS IN DYNAMIC UNCERTAIN ENVIRONMENT
庄慧忠 1李晗 2陆震宇1
作者信息
- 1. 上海工程技术大学高等职业技术学院,上海,200437
- 2. 温州大学物理与电子信息学院,浙江,温州,325000
- 折叠
摘要
Abstract
This paper presents an on-line real-time path planning method for mobile robots in dynamic uncertain environment. Based on polar coordinates space, this method uses expected movement direction angle of robots as the index of path optimization. It explores information of local environment in time through sensor system of robots. At each sampling time, the robot firstly takes the sample of positions of dynamic obstacles within its ”visual field”, and then predicts the positions of dynamic obstacles at next sampling time with autoregressive model according to sampled positions information, and deals with dynamic obstacles at predicting positions as the static ones afterwards. Then it plans collision avoidance path for them so as to have transformed the dynamic path planning into static path planning. The method is available and feasible, it has real-time planning property and preferably good collision avoidance capacity, all of these are demonstrated by the simulations and experimental results.关键词
移动机器人/路径规划/极坐标空间/期望方向角引用本文复制引用
庄慧忠,李晗,陆震宇..动态不确定环境下移动机器人的在线实时路径规划[J].计算机应用与软件,2011,28(2):172-175,194,5.
