| 一种基于Dijkstra算法的机器人避障问题路径规划 |
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| 引用本文： | 邹益民,高阳,高碧悦.一种基于Dijkstra算法的机器人避障问题路径规划[J].数学的实践与认识,2013,43(10):111-118. |
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| 作者姓名： | 邹益民 高阳 高碧悦 |
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| 作者单位： | 南京铁道职业技术学院 通信信号学院,江苏 南京,210031 |
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| 基金项目： | 基于计算机视觉及多信息融合的轨道交通异常客流实时监控系统;江苏省轨道交通工程研发中心开放基金 |
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| 摘 要： | 移动机器人的避障问题是移动机器人控制领域的研究热点.针对给定的移动机器人避障问题,探讨了最短路径及最短时间路径的路径规划问题.对于最短路径问题,建立了简化的路径网格模型,将其抽象为由节点及边构成的两维图,再使用经典的Dijkstra算法获得可行的最短路径.对于最短时间路径问题,通过分析移动机器人弯道运行的速度曲线,基于几何方法得出了移动时间与过渡圆弧圆心之间严格的数学关系,此后借助MATLAB优化函数获得最佳的移动路径.算法可为类似机器人避障问题的解决提供借鉴.
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| 关 键 词： | 移动机器人 避障 路径规划 Dijkstra算法 优化 |
A Path Planning Method for Mobile Robot Obstacle Avoidance Based on Dijkstra Algorithm |
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| ZOU Yi-min
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GAO Yang
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GAO Bi-yue.A Path Planning Method for Mobile Robot Obstacle Avoidance Based on Dijkstra Algorithm[J].Mathematics in Practice and Theory,2013,43(10):111-118. |
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| Authors: | ZOU Yi-min GAO Yang GAO Bi-yue |
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| Institution: | (School of Railway Signalling&Communication,Nanjing Institute of Railway Technology,Nanjing 210031, China) |
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| Abstract: | Obstacle avoidance of the mobile robot is a hot research field of mobile robot control.Face with the given mobile robot obstacle avoidance problems,the path planning of shortest and fastest were explored.For shortest path planning,a simplified path mesh modal was established.Thus,a candidate solution was obtained by treating the scene as twodimensional map composed of nodes and edges and using classical Dijkstra algorithm to seek the shortest route.For fastest path planning,by analyzing the moving speed of the mobile robot along arc-shaped route,the strict mathematical relationship between the robot moving time with transition arc center was deduced based on geometric method,thereafter to obtain the optimal movement path by means of MATLAB optimization function.The proposed algorithm can be extended to solve similar robot obstacle avoidance problems. |
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| Keywords: | mobile robot obstacle avoidance path planning dijkstra algorithm optimizing process |
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