高技术通讯2016，Vol.26Issue(12)：997-1005,9.DOI:10.3772/j.issn.1002-0470.2016.12.009
基于动态运动基元的移动机器人路径规划
Path planning for mobile robots based on dynamic movement primitives
摘要
Abstract
A novel path planning algorithm based on dynamic movement primitives (DMPs) for a mobile robot working in 2D environment is proposed.The algorithm can be described below:Firstly,the robot's trajectory is recorded while the robot is controlled by a handle.Then the recording trajectory is used as a learning sample of DMPs,and the autonomous path planning of the robot is realized,which utilizes the model parameters obtained by training the sample trajectory.In the environment with obstacles,the avoidance path can be produced through designing a coupling factor on the basis of the existing study.Based on the autonomous path planning,the generalization comes true to new goals while the original goal is changed.The simulation and experimental results show that the DMPs algorithm is feasible on a mobile robot path planning.关键词
动态运动基元(DMPs)/移动机器人/二维环境/路径规划/避障Key words
dynamic movement primitives (DMPs)/mobile robot/2D environment/path planning/obstacle avoidance引用本文复制引用
姜明浩,陈洋,李威凌..基于动态运动基元的移动机器人路径规划[J].高技术通讯,2016,26(12):997-1005,9.基金项目
国家自然科学基金(61573263,61203331),湖北省科技支撑(2015BAA018)和武汉科技大学科技创新基金(14ZRC147)资助项目. （61573263,61203331）
