计算机与数字工程2024，Vol.52Issue(10)：2908-2913,2959,7.DOI:10.3969/j.issn.1672-9722.2024.10.010
机器人自主探索规划方法和系统设计
Robot Autonomous Exploration Planning Method and System Design
摘要
Abstract
An improved autonomous exploration method is proposed to solve the problems of low efficiency,poor immediacy and repeated exploration of robots in unknown environments.Firstly,the local field of vision of the robot is optimized to solve the problem of incomplete map update when the obstacle information is missing.On this basis,taking the information gain of the frontier boundary point as the reward term and the moving cost as the penalty term,a nonlinear correction function is constructed to reason-ably select the boundary point.Finally,the simulation platform is built and the efficiency is improved.关键词
前沿边界点/自主探索/移动机器人/路径规划Key words
frontier boundary point/autonomous exploration/mobile robot/path planning分类
信息技术与安全科学引用本文复制引用
张新磊,谢翠娟,许俊锋..机器人自主探索规划方法和系统设计[J].计算机与数字工程,2024,52(10):2908-2913,2959,7.基金项目
国家自然科学基金项目(编号:61963038,62063035)资助. （编号:61963038,62063035）
