| 基于自学习可见图的机器人路径规划 |
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| 引用本文： | 崔玉平,于秋则,田金文,刘永才.基于自学习可见图的机器人路径规划[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 崔玉平 于秋则 田金文 刘永才 |
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| 作者单位： | [1]华中科技大学图像识别与人工智能研究所 [2]中国航天科工集团第三研究院 [3]湖北武汉 |
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| 摘 要： | 针对未知环境下的机器人路径规划问题 ,提出了一种基于自学习可见图与局部最优的路径规划算法 .在这种算法中 ,采用自学习可见图来表示环境 ,并在路径规划的过程中逐步建立自学习可见图 .在避障上设计一个局部最优算法并提出了一种局部路径规划算法 .实验表明 :该方法规划速度快 ,并且能规划出局部最优的路径 ,满足未知环境下机器人路径规划的要求 .
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| 关 键 词： | 路径规划 自学习可见图 局部最优 |
Path planning of mobile robot using self-learn visual graph |
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| Cui Yuping Yu Qiuze Tian Jinwen Liu Yongcai Doctoral Candidate, Inst. for Pattern Recognition & AI,Huazhong Univ. of Sci. & Tech.,Wuhan ,China..Path planning of mobile robot using self-learn visual graph[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Cui Yuping Yu Qiuze Tian Jinwen Liu Yongcai Doctoral Candidate Inst for Pattern Recognition & AI Huazhong Univ of Sci & Tech Wuhan China |
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| Institution: | Cui Yuping Yu Qiuze Tian Jinwen Liu Yongcai Doctoral Candidate, Inst. for Pattern Recognition & AI,Huazhong Univ. of Sci. & Tech.,Wuhan 430074,China. |
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| Abstract: | A new path planning method of mobile robot in unkown enviroment using self-learn visual graph is proposed. In this paper, a presentation named by self-learn visual graph(SLVG) is used to represent unkown environment, the SLVG is empty at first, when the path planning is conduct, the SLVG is built partly, when the path planning is finished, the SLVG is built completely. On the base of SLVG, a local optimal obstacle avoidance algorithm and a local optimal path planning algorithm are also present in the paper. Experimental results using simulation demonstrate that the method is fast and can produce a local optimal path for mobile robot in unknown environment. |
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| Keywords: | path planning self-learn visual graph(SLVG) local optimal |
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