郑州大学学报（理学版）2012，Vol.44Issue(1)：75-78,4.DOI:10.3969/j.issn/1671-6841.2012.01.017
一种移动机器人动态环境下的路径规划
Research of Path Planning of Autonomous Robot in Dynamic Environment
摘要
Abstract
A method of path planning for autonomous robot was proposed. The method had two parts including global path planning towards target and local path planning for obstacles avoidance. First, the work environment for the robot was established with grid method. Then a global path was planned using ant colony algorithm, and rolling windows which predicted collision in dynamic environment was adopted to avoid the robot obstacles. The method applied to the circumstances existing static and dynamic obstacles. Finally, the simulation results showed the effectiveness of the method.关键词
移动机器人/蚁群算法/动态避障/滚动窗口Key words
autonomous robot/ ant colony algorithm/ obstacles avoidance/ rolling windows分类
信息技术与安全科学引用本文复制引用
唐建平,宋红生,王东署..一种移动机器人动态环境下的路径规划[J].郑州大学学报（理学版）,2012,44(1):75-78,4.基金项目
国家自然科学基金资助项目,编号61174085 （）
河南省教育厅自然科学研究项目,编号2010B510019. （）
