| 基于两点法的机器人路径规划 |
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| 引用本文： | 李彩虹,张子间.基于两点法的机器人路径规划[J].山东理工大学学报,2005,19(1):17-20. |
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| 作者姓名： | 李彩虹 张子间 |
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| 作者单位： | 山东理工大学,计算机科学与技术学院,山东,淄博,255049;山东理工大学,资源与环境工程学院,山东,淄博,255049 |
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| 基金项目： | 国家863项目子课题(2003AA133040). |
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| 摘 要： | 采用超声波传感器检测环境，来提供障碍物和目标的距离信息，避免全局建模，并提出了一种机器人路径规划的新算法——两点法，此算法采用局部路径规划，简单易行，规划速度快，可避免传统算法中存在的死锁现象，最后应用该方法进行了避障、道路跟踪等仿真与模拟实验，实验表明，该算法具有很好的灵活性和鲁棒性。
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| 关 键 词： | 移动机器人 路径规划 两点法 超声波传感器 |
| 文章编号： | 1672-6197(2005)01-0017-04 |
| 修稿时间： | 2004年7月23日 |
Path planning for mobile robot based on the two-dot method |
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| LI Cai-hong,ZHANG Zi-jian.Path planning for mobile robot based on the two-dot method[J].Journal of Shandong University of Technology:Science and Technology,2005,19(1):17-20. |
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| Authors: | LI Cai-hong ZHANG Zi-jian |
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| Institution: | LI Cai-hong~1,ZHANG Zi-jian~2 |
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| Abstract: | Ultrasonic sensors have been used to detect the distances of obstacles and the target in the environment. So the overall model of the environment need not be built. Furthermore, a new path planning method, i.e. two-dot method, is also discussed. This method is simple and its computation is fast. It owns to local path planning, but it can avoid the dead decking of the tradition methods. At last the method has been tested for obstacles' avoidance and road following in simulated and actual environments. The results prove that the method is feasible and robust. |
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