自动化学报2017，Vol.43Issue(5)：710-724,15.DOI:10.16383/j.aas.2017.c160262
基于非均匀环境建模与三阶Bezier曲线的平滑路径规划
Smooth Path Planning Based on Non-uniformly Modeling and Cubic Bezier Curves
摘要
Abstract
In this paper, a path planning algorithm is proposed to search feasible paths for an auxiliary robot working in complex environment. The movement of the robot could thus be guided by the planned result of the algorithm in assembly practice. In the process of environmental modeling, a quad tree method is employed to construct the non-uniform environmental model, which decreases the amount of environmental information to a minimum as needed. As a result, the searching efficiency is improved. In the process of path searching, on the basis of the predefined non-uniform environmental model, an improved ant colony algorithm is presented to search the path points for the robot, which adopts distance-based heuristic search method and fusion of two different pheromone updating mechanisms. In the process of path smoothing, Bezier turn is designed based on cubic Bezier curves to connect two arbitrary configurations. Bezier turns are used to fit a sequence of objective points offered by the improved ant colony algorithm, so that a smooth path satisfying the robot's nonholonomic constraints can be obtained. Finally, the method is experimentally demonstrated in target area with large laser facility. Furthermore, the feasibility and security of the planned path is verified based on the platform of DELMIA.关键词
平滑路径规划/非均匀建模/蚁群算法/Minkowski和/Bezier曲线Key words
Smooth path planning/non-uniform environmental model/ant colony algorithm/Minkowski sum/Bezier curves引用本文复制引用
卜新苹,苏虎,邹伟,王鹏,周海..基于非均匀环境建模与三阶Bezier曲线的平滑路径规划[J].自动化学报,2017,43(5):710-724,15.基金项目
国家高技术研究发展计划(863 计划)(2015AA042307), 国家自然科学基金(61573347, 61403382, 61379097) 资助 Supported by National High Technology Research and Devel-opment Program of China(863 Program)(2015AA042307), and National Natural Science Foundation of China(61573347, 61403382, 61379097) （863 计划）
