【摘要】 移动机器人运动规划旨在考虑机器人运动学、动力学和时间约束的同时,在复杂环境中找到最佳且无碰撞的路径。近年来运动规划算法逐渐向高效、实时生成高质量的可执行路径发展。综述了基于运动学约束的一系列运动规划算法,分析并比较了其理论上的优势和不足;对算法的实时性能、优化性能以及对环境模型的依赖性进行分析;将运动规划拆分成前端路径搜索和后端轨迹优化;总结了运动规划算法的研究状况。更多还原

【Abstract】 Mobile robot motion planning aims to find the best and collision free path in complex environment while considering robot kinematics, dynamics and time constraints. In recent years, motion planning algorithms are gradually developed towards efficient and real-time generation of high-quality executable paths. A series of motion planning algorithms based on kinematic constraints were reviewed and their theoretical advantages and disadvantages were analyzed and compared; the real-time performance, optimization performance and dependence of the algorithm on the environment model were analyzed; motion planning was divided into front-end path search and back-end trajectory optimization; the research status of motion planning algorithm was summarized.更多还原