高技术通讯2011，Vol.21Issue(5)：516-522,7.DOI:10.3772/j.issn.1002-0470.2011.05.012
用于移动机器人路径规划的曲线轨迹算法
A circular arc path algorithm for mobile robot path planning
摘要
Abstract
Aiming at the inherent limitation of the artificial potential field (APF) algorithm for mobile robot path planning that a path can not be detected among neighbouring obstacles, the paper presents a circular are path algorithm to modify the APF algorithm. Based on the locus equation, this modified algorithm plans the path of a mobile robot in the form of regular curve, and then figures out the path equation denoted by the equation of a circle to simplify the calculation. In addtion, both the mai-time feature of path planning and the shortest path are considered to get the optimal path. A 3D laser scanning system was constructed as the experimental platform for the algorithm, and the navigation information of the algorithm obtained from 3D depth-of-field information was applied to the experiment to verify the performance of the path planning method proposed in the paper. The results indicate that the circular arc path algorithm can resolve the problem of the APF algorithm that a path can not be detected between densely spaced obstacles efficiently.关键词
路径规划/人工势场/轨迹方程/移动机器人Key words
path planning/ artificial potential field/ locus equation/ mobile robot引用本文复制引用
范海洲,陈伟海,刘敬猛,高铭辰..用于移动机器人路径规划的曲线轨迹算法[J].高技术通讯,2011,21(5):516-522,7.基金项目
863计划(2006AA04Z218)和国家自然科学基金(61075075)资助项目. （2006AA04Z218）
