【作者】 于乃功； 王胜；

【Author】 Yu Nai-gong,Wang Sheng (College of Electronic and Control Engineering,Beijing University of Technology,Beijing 100124,China)

【机构】 北京工业大学电子信息与控制工程学院；

【摘要】 为了提高移动机器人在复杂环境下导航的实时性,本文利用细胞自动机结构简单,并行计算能力强的优点,提出一种基于细胞自动机的移动机器人导航算法。首先分解移动机器人工作区为一系列单元格建立细胞空间,定义细胞状态,设计演化规则;然后细胞自动机按照演化规则演化,演化完毕后搜索起点到终点的最优路径。实验结果表明:该算法能快速找出一条无碰路径,实现移动机器人的导航。更多还原

【Abstract】 An algorithm based on Cellular Automata(CA) is developed in this paper to improve the problem of robot navigation in complex environment in real-time,using its advantages of simple structure,parallel computing capacity.First of all,workspace is decomposed into a set of unit squares to constitute the cellular space of CA.Then definite cellular status,design evolution rules and search the optimal path from the start point to the end,after the evolution in according with the rules of the evolution.The experiment shows that:the algorithm can quickly find a collision-free path and achieve effect result.更多还原