【摘要】 针对移动机器人全局路径规划优化问题,本文提出一种采用栅格法进行建模,以分层搜索为核心思想的新搜索方法,该方法在外层采用A*算法将复杂的图元模糊化以简化环境,内层则采用人工势场算法将具体的栅格还原以解模糊,具有一定的理论意义与应用前景。仿真实验表明,该方法能达到较好的路径规划效率和实时性。更多还原

【Abstract】 In order to optimize global path planning for mobile robot,a new method is presented which tends to synthesize the advantages of multiple algorithms.The method uses grids to setup the model is modeling using and searches the path based on stages.The outer stage adopts A* algorithm,inner stage adopts artificial potential field algorithm synchronously.The global optimization of path planning is then proved out.Simulation results have shown the effectiveness and real time of the proposed method.更多还原