计算机工程与应用2009，Vol.45Issue(32)：237-239,243,4.DOI:10.3778/j.issn.1002-8331.2009.32.073
实现机器人动态路径规划的仿真系统
Robot dynamic path planning simulation system
杨姗姗 1戴学丰 1唱江华1
作者信息
- 1. 齐齐哈尔大学,机器人研究所,黑龙江齐齐哈尔,161006
- 折叠
摘要
Abstract
The paper presents a new approach to robot path planning under dynamic environment.The whole system includes two parts,the global path planning and the local planning for obstacle avoidance.In the global path planning,an optimal route to the goal is founded by RRT algorithm;in the local planning for obstacle avoidance,while following the global path,several collision-free strategies for different situations are used after the environment detection and collision prediction based on rolling windows in order that the robot reaches the goal safety.The results of the simulation experiment indicate that the proposed method is feasible.关键词
机器人路径规划/动态避障/快速搜索随机树算法/全局路径规划/局部避碰规划/栅格法DOI/10.3778/j.issn.1002-8331.2009.32.073Key words
robot path planning/dynamic obstacle avoidance/rapidly-exploring random tree algorithm/global path planning/local planning for obstacle avoidance/grid method分类
信息技术与安全科学引用本文复制引用
杨姗姗,戴学丰,唱江华..实现机器人动态路径规划的仿真系统[J].计算机工程与应用,2009,45(32):237-239,243,4.
