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未知环境下基于传感器的移动机器人路径规划
Sensor-Based Path Planning for Mobile Robot in Unknown Environment
【摘要】 本文提出了基于传感器的移动机器人路径规划方法.该方法改进了Bug算法中的两个前提假设,综合考虑了传感器的数据误差和机器人形体尺寸,规划时只考虑当前状态下所必需的传感数据,不必计算障碍物边线的解析式,节省了存储空间,提高了规划效率,保证了算法的实时性,并对算法的收敛性给予了证明.最后用仿真实验验证了该方法的可行性.
【Abstract】 A method of sensor-based path planning for mobile robot in unknown environment is presented.Two assumptions of the Bug algorithms are not used in the planning.Both the data error of the sensors and the physical size of the robot are taken into account.Only the necessary sensing data instead of the analytical expression of the obstacles are calculated in planning so as to save memory and improve the planning efficiency,thus the planning in real-time is guaranteed.And the proof of convergence is given.At last the simulation test is made to prove the feasibility.
- 【文献出处】 电子学报 ,Acta Electronica Sinica , 编辑部邮箱 ,2006年05期
- 【分类号】TP242
- 【被引频次】34
- 【下载频次】535