| 引用本文: | 武心安,孙尧,莫宏伟.一种动态不确定环境下的机器人路径规划算法[J].哈尔滨工业大学学报,2010,42(11):1805.DOI:10.11918/j.issn.0367-6234.2010.11.027 |
| WU Xin-an,SUN Yao,MO Hong-wei.A new path planning algorithm for robot in dynamic uncertainty environment[J].Journal of Harbin Institute of Technology,2010,42(11):1805.DOI:10.11918/j.issn.0367-6234.2010.11.027 |
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| 摘要: |
| 为了提高机器人在动态不确定环境下的实时性和适应能力,提出了一种机器人实时路径规划新方法.采用环境信息处理算法,通过搜索实时局部环境信息特征信息的方式对环境信息进行分析和处理.该方法能够捕捉动态障碍物并对动态障碍物的运动规律进行预测,将特征信息及时更新给运动动作规划算法部分.运动动作规划算法是通过引入启发式思想选择双安全子目标点,完成规划运动动作并实现优化路径.在不同环境下进行仿真实验,检验了算法的有效性,证明算法在动态不确定环境下具有良好的实时性和适应性。 |
| 关键词: 路径规划 实时性 启发式算法 动态不确定环境 |
| DOI：10.11918/j.issn.0367-6234.2010.11.027 |
| 分类号:TP242 |
| 基金项目:国家自然科学基金资助项目(60672035) |
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| A new path planning algorithm for robot in dynamic uncertainty environment |
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WU Xin-an, SUN Yao, MO Hong-wei
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College of Automation,Harbin Engineering University,Harbin 150001,China
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| Abstract: |
| This paper presents a new real-time path planning algorithm for robot in dynamic uncertainty environment,which has good applicability.The first part of the algorithm is the analysis and interpretation of the environment information by searching the characteristic information(Double-Safe-Edges,DSE),so it can catch dynamic obstacle,estimate the state of the dynamic obstacle and update the characteristic information to the second part of the algorithm at the same time.The second part is the choice of double-safe local goal to generate the motion command by using heuristic algorithm.The result of simulation proves that the DSE algorithm is real-time and has good applicability in dynamic uncertainty environment. |
| Key words: path planning real-time heuristic algorithm dynamic uncertainty environment |
