【作者】 赵峰；

【导师】 崔平远；

【作者基本信息】 北京工业大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 随着科学技术的进步以及机器人学的发展，机器人的应用越来越广泛，移动机器人的研究和开发近年来受到了人们的高度重视。人们要求机器人在运动过程中能根据周围环境的变化而自主的采取相应措施的能力也越来越强。因而，作为机器人“智能”的一个重要因素——路径规划就显得尤为重要。 本文主要针对复杂环境下移动机器人路径规划及其相关的问题展开了研究，着重研究了静态未知环境下和动态未知环境下机器人路径规划问题，采用启发式搜索算法以及滚动规划策略。本文的主要内容如下： 首先分析了复杂环境下机器人运动安全性。根据理想状态下机器人的扫描范围、机器人规划的局部范围、安全距离之间的关系探讨了机器人运动过程中的禁入区、潜在的碰撞区。 其次在静态复杂环境中，提出了一种地图表示方法，在运动过程中通过选取合适的子目标，以区域滚动规划的方式引导机器人走向全局目标。 最后在动态复杂环境中，提出了用动态BW(t)模型表示动态环境，以描述动态障碍运动所引起的环境信息的变化，在可视窗口中，机器人感知并且预测动态障碍物的运动，并且将所获得的信息传给规划窗口，在规划窗口中看成动态已知的环境。通过规划窗口的滚动，来适应环境的不断变化。更多还原

【Abstract】 With the development of science and technology as well as the robotics, robots has found more and more applications in various fields, and consequently, the research and development of mobile robots have been paid great attention to in recent years. The requirement of its ability to take corresponding measures in accordance with the environmental changes in its moving courses has become higher and higher. Therefore, the route planning, as an important factor in robot intelligence, appears particularly significant.This thesis, using the heuristic searching algorithm and the rolling planning strategy, mainly focuses on the study of the route planning of mobile robots in complicated environment and its relevant problems, especially the motion planning in unknown static and dynamic environment. Following are the main content of this thesis:The first part analyses the safety of moving robots in complicated environment. According to the relationship of the scanning scope of robots, the local range of robot motion planning, and the safety distance in an ideal state, it discusses the prohibiting area and the potential collision area in the moving courses of the robots.The second part proposes a mapping method in a static complicated environment. By selecting appropriate sub-targets in its movement, the robot directs itself to move toward the final goal in way of the local rolling planning.The final part proposes, in a dynamic complicated environment, to use the dynamic BW(t) model as the dynamic environment to describe the changes of the environmental information caused by the dynamic moving obstacles. From a visible window, the robot senses and predicts the movement of the dynamic obstacles, and passes the information to the route planning window where, therefore, it can be regarded as a known dynamic environment. Finally, the robot will be able to adapt to the constantly changing environment through the rolling of the route planning window.更多还原