|
OALib Journal期刊
ISSN: 2333-9721
费用：99美元
|
|
|
|
未知环境下基于快速搜索随机树的机器人路径滚动规划
, PP. 79-83
Keywords: 移动机器人,滚动规划,快速搜索随机树,未知环境
Abstract:
在未知环境下,移动机器人没有全局信息,一次只能规划出探测范围内的局部路径.针对这一特点,提出了一种全新的基于滚动窗口的快速搜索随机树算法.该算法以机器人出发点为根节点,充分利用机器人实时测得的局部环境信息,以滚动方式进行在线扩展,逐渐增加叶节点直至随机树的叶节点包括了目标节点,从根节点到目标节点的随机树的边即为规划出的路径.大量仿真实验表明,即使在障碍物非常复杂的未知地理环境下,该算法也能快速规划出一条全局优化路径,且能安全避障.
| [1] | W ang H ua, Zhao Chen, W angH ongbao, e t a .l A new path plann ing m ethod based on RRT[ J]. Journa l ofH arbin Institute o f
|
| [2] | Techno logy, 2004, 36( 7): 963-965. ( in Chinese)
|
| [3] | [ Jam es J Kuffner, StevenM Lava lle. RRT-Connect: An e fficient approach to sing le-query path plann ing[ C ] / / Proceed ing s o f
|
| [4] | IEEE Inte rnational Conference on Robo tics and Automa tion. San Franc isco: C A, 2000: 995-1 001.
|
| [5] | [ StevenM Lava lle, Jam es J Kuffner. Random ized kinodynam ic p lann ing [ C ] / / International Conference on Robo tics and Autom
|
| [6] | ation. De tro it, M ichigan, 1999: 473-479.
|
| [7] | [ 席裕庚, 张纯刚. 一类动态不确定环境下机器人的滚动路径规划[ J]. 自动化学报, 2002, 28( 2): 161-174.
|
| [8] | X i Yugeng, Zhang Chungang. Ro lling path planning of mob ile robo t in a k ind of dynam ic uncerta in environment[ J]. A ctaAutom
|
| [9] | [ 徐守江, 朱庆保. 基于遗传算法的移动机器人路径滚动规划[ J]. 计算机工程, 2007, 33( 20): 207-209.
|
| [10] | Xu Shou jiang, Zhu Q ingbao. Ro lling pa th plan o fm obile robo t based on gene tic a lgor ithm [ J]. Com puter Eng ineer ing, 2007,
|
| [11] | 33( 20): 207-209. ( in Ch inese)
|
| [12] | [ 国海涛, 朱庆保, 徐守江. 基于栅格法的机器人路径规划快速搜索随机树算法[ J]. 南京师范大学学报: 工程技术版,
|
| [13] | 2007, 7( 2) : 58-61.
|
| [14] | GuoH a itao, Zhu Q ingbao, Xu Shou jiang. Rap id- exp lor ing random tree a lgor ithm for pa th plann ing o f robot based on g rid
|
| [15] | m ethod[ J]. Journal o fN an jing Norm a lUn iversity: Eng ineering and Techno logy Edition, 2007, 7( 2): 58-61. ( in Chinese)
|
| [16] | [ 王华, 赵臣, 王红宝, 等. 基于快速扫描随机树方法的路径规划器[ J]. 哈尔滨工业大学学报, 2004, 36( 7): 963-965.
|
| [17] | atica S in ica, 2002, 28( 2): 161-174. ( in Ch inses)
|
| [18] | [ Zhang C G, X iY G. Mob ile robot path plann ing based on rolling w indow s in the unknown env ironm ent[ J]. Sc ience in China
|
| [19] | ( Ser ies E) , 2001, 31( 1): 51-58. ( in Chinese)
|
| [20] | [ Zhang C G, XiY G. Robo t ro lling path p lann ing based on locally de tected inform ation[ J]. ACTA Autom atica S inica, 2003, 29
|
| [21] | ( 1): 38-44.
|
| [22] | [ 朱庆保. 全局未知环境下多机器人运动蚂蚁导航算法[ J] . 软件学报, 2006, 17( 9): 1 890-1 898.
|
| [23] | Zhu Q ingbao. Ant a lgo rithm for nav igation ofm ult-i robo tm ov em ent in unknown env ironm ent[ J] . Journal of So ftw are, 2006, 17
|
| [24] | ( 9): 1 890-1 898. ( in Ch inese)
|
Full-Text
|
|
Contact Us
service@oalib.com QQ:3279437679 
WhatsApp +8615387084133
|
|
