%0 Journal Article
%T ROLLING PATH PLANNING OF MOBILE ROBOTIN A KIND OF DYNAMIC UNCERTAIN ENVIRONMENT<br>一类动态不确定环境下机器人的滚动路径规划
%A XI Yu-Geng
%A ZHANG Chun-Gang
%A <br>席裕庚
%A 张纯刚
%J 自动化学报
%D 2002
%I 
%X In this paper, robot path planning in globally unknown environment with moving obstacles is studied. Using the rolling optimization concept adopted in predictive control, a new strategy of path planning based on rolling windows for a mobile robot is proposed. The method makes full use of the real time local environmental information detected by the robot and the path planning is performed on line in a rolling style. Optimization and feedback are combined in a reasonable way. It is well suitable to dynamic uncertain environment. The safety and accessibility of the planning algorithm are also discussed in the paper.
%K Robot path planning
%K rolling plan
%K safety
%K accessibility<br>机器人
%K 路径规划
%K 滚动规划
%K 安全性
%K 可达性
%K 动态不确定环境
%K 移动机器人
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=7F57754A3AC6F10D&yid=C3ACC247184A22C1&vid=D3E34374A0D77D7F&iid=0B39A22176CE99FB&sid=8575BEDA702C4B7C&eid=A58CF3BAE79427D0&journal_id=0254-4156&journal_name=自动化学报&referenced_num=41&reference_num=14