【摘要】 文章首先建立移动机器人对室内环境的全局模型,通过任务规划将全局目标分解为易于实现的多个子目标。然后针对每一个子目标,根据机器人边界圆直径构建一种改进的可视图,利用可视图和Dijkstra算法得到对子目标的全局路径,从而实现全局目标的路径规划。该算法简单,适于室内环境下移动机器人的实时导航系统。更多还原

【Abstract】 A new path planning algorithm for indoor mobile robot is proposed in this article.Firstly,the gross goal is decomposed into multiple sub-goals with the global model of indoor environment.For each sub-goal,a modified visibility graph is constructed due to the diameter of robot bound circle.After the global path of each sub-goal be computed using Dijkstra’s algorithm and its visibility graph,the path planning of gross goal is realized.This algorithm is simple and can be used on the realtime navigation system of indoor mobile robot.更多还原