| 基于环境建模与自适应窗口的机器人路径规划; Planning of robot paths through environment modelling and adaptive window | |
| 仲训昱 ; 彭侠夫 ; 缪孟良 | |
| 2010 | |
| 关键词 | 移动机器人 路径规划 环境建模 自适应调整 滚动窗口 mobile robot path planning environment modeling adaptive adjusting rolling window |
| 英文摘要 | 为解决未知环境下移动机器人的实时路径规划问题,提高路径的综合性能,采用多约束局部环境建模方法,综合考虑了各行进方向上的可通行性、安全性、运动平稳性和目标引导性等因素;在环境建模基础上,将bug算法与基于滚动窗口的路径规划相结合,提出一种改进的路径规划算法,该算法为机器人设计了趋向目标行为和克服局部极小的沿墙行走行为,其滚动窗口的大小能够根据环境进行自适应动态调整.仿真结果表明,提出的环境建模及路径规划方法具有较好的避障能力和环境适应性.; In order to plan real-time paths for mobile robots and improve the synthetical performance of the robot′s trajectory,a multi-constrained local environment-modeling method was used,in which the traversability, security and movement smoothness were taken into consideration.On the basis of environment modeling,a improved path planning algorithm,including move to goal behavior and wall following behavior based on adaptive window,is proposed by combining Bug algorithm and rolling path planning.Simulation results show that the proposed methods have good obstacle avoidance capabilities and environment adaptability.; 国家985工程资助项目(000-X07204) |
| 语种 | zh_CN |
| 内容类型 | 期刊论文 |
| 源URL | [http://dspace.xmu.edu.cn/handle/2288/122632]  |
| 专题 | 信息技术－已发表论文 |
| 推荐引用方式 GB/T 7714 | 仲训昱,彭侠夫,缪孟良. 基于环境建模与自适应窗口的机器人路径规划, Planning of robot paths through environment modelling and adaptive window[J],2010. |
| APA | 仲训昱,彭侠夫,&缪孟良.(2010).基于环境建模与自适应窗口的机器人路径规划.. |
| MLA | 仲训昱,et al."基于环境建模与自适应窗口的机器人路径规划".(2010). |
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