辽宁石油化工大学学报2017，Vol.37Issue(4)：65-69,5.DOI:10.3969/j.issn.1672-6952.2017.04.015
基于避障切换控制的移动机器人路径规划
Path Planning of Mobile Robot Based on Obstacle Avoidance Switching Control
摘要
Abstract
The mobile robot can sense the surrounding environment,and can plan the path to reach the target point in real time, among which the obstacle avoidance problem is the focus of the research.A control scheme for path planning transformation of mobile robot in obstacle avoidance without detailed environmental information is designed.In this scheme,the robot can according to the motion tracking mode,obstacle avoidance model and robot state gradually approaching the target,using the Matlab simulation experiment in any shape obstacles as far as possible.The obstacle experiment verifies the effectiveness of the adaptive path planning control scheme is proposed.关键词
切换控制/运动跟踪模式/避障模式/路径规划/Matlab仿真Key words
Switch control/Motion tracking mode/Obstacle avoidance mode/Path planning/Matlab分类
信息技术与安全科学引用本文复制引用
方健飞,张威,葛琳琳..基于避障切换控制的移动机器人路径规划[J].辽宁石油化工大学学报,2017,37(4):65-69,5.基金项目
抚顺市科学技术发展资金计划项目(FSKJHT201548) （FSKJHT201548）
2014年国家级大学生创新创业资助项目(201410148060、201510148068). （201410148060、201510148068）
