计算机应用与软件2011，Vol.28Issue(3)：220-222,236,4.
基于可视图的移动机器人路径规划
A VISIBILITY GRAPH BASED PATH PLANNING ALGORITHM FOR MOBILE ROBOT
许斯军 1曹奇英1
作者信息
- 1. 东华大学计算机科学与技术学院,上海,201620
- 折叠
摘要
Abstract
A study has been made mainly aiming at the global path planning in static and known environment. Considering the security and path optimisation, based on tangential graph a modified visibility graph method is used to set up the environment model and to determine the valid path for robot moving to destination. First, by using the tangential graph method the visibility graph is modelled on free space. Secondly,based on modelling the visibility graph, a series of paths are generated by the goal-oriented heuristic function. Thirdly, the optimised iterative computation is executed on these paths with genetic algorithm. Program realisation results prove that, because of the introduction of the goal-oriented function, the number of iteration computation is decreased and the planned path qualities are getting better.关键词
机器人/路径规划/最短路径/遗传算法引用本文复制引用
许斯军,曹奇英..基于可视图的移动机器人路径规划[J].计算机应用与软件,2011,28(3):220-222,236,4.
