机器人2011，Vol.33Issue(3)：273-278,286,7.DOI:10.3724/SP.J.1218.2011.00273
基于虚拟障碍物的移动机器人路径规划方法
Virtual Obstacles Based Path Planning for Mobile Robots
摘要
Abstract
A virtual obstacles based path planning method for mobile robot in urban road environment is presented.It's based on both the benefits of global and local path planners.Firstly, it uses A* algorithm to produce a global optimal path.Secondly, virtual obstacles are generated according to the global path.Finally, by fusing virtual and actual detected obstacles, the local path is planned based on the improved vector field histogram method.This method can not only fully utilize environment information to get the global optimal path, but also avoid the stochastic obstacles on the road in real-time.Practical experiments illustrate the effectiveness and robustness of this method.关键词
移动机器人/虚拟障碍物/路径规划/城市道路环境Key words
mobile robot/ virtual obstacle/ path planning/ urban road environment分类
信息技术与安全科学引用本文复制引用
叶炜垚,王春香,杨明,王冰..基于虚拟障碍物的移动机器人路径规划方法[J].机器人,2011,33(3):273-278,286,7.基金项目
上海市科委世博科技专项资助项目(10dz0581100):教育部博士点基金资助项目(20070248097). （10dz0581100）
