| 未知环境下移动机器人实时路径规划 |
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| 引用本文： | 李彩虹 李贻斌. 未知环境下移动机器人实时路径规划[J]. 山东理工大学学报：自然科学版, 2001, 15(4): 24-27 |
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| 作者姓名： | 李彩虹 李贻斌 |
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| 作者单位： | 李彩虹（山东理工大学,山东淄博,255091） 李贻斌（山东理工大学,山东淄博,255091） |
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| 摘 要： | 主要讨论了在不确定环境下移动机器人运动路径的在线规划算法.在此方法中,预定目标被定为吸引子,而障碍物被定为排斥子,路径规划问题就被转换为应用牛顿定理进行迭代计算的问题.这种算法计算简便,实时性强,能自动地适应工作环境中障碍物和目标的位置变化和随机出现,使机器人准确避开障碍,安全到达目的地.
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| 关 键 词： | 在线规划 吸引子 排斥子 移动机器人 迭代 |
| 修稿时间： | 2001-11-20 |
On- Iin e Path Planning for Mobile Robot Under Uncertainty |
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| Li Caihong Li Yibin. On- Iin e Path Planning for Mobile Robot Under Uncertainty[J]. Journal of Shandong University of Technology:Science and Technology, 2001, 15(4): 24-27 |
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| Authors: | Li Caihong Li Yibin |
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| Abstract: | An on-line path planning algorithm of mobile robot is discussed in this paper. In the algorithm,candidate targets are defined as attractors, while obstacles are defined as repellers. Path planning has been changed to using an iterative Newton scheme that can readily adapt to changes in the environment. The algorithm is simple and can react the change which include the obstacle changing and appearing abruptly in real-time. Using it,the robot can avoid the obstacle accurately and reach the goal safely.The simulation result shows that the method is effective. |
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| Keywords: | on-line path planning attractor repeller mobile robot iterative |
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