摘要
在栅格法表示的机器人路径规划问题研究中,定义出路径记忆量、路径方位的重要性等概念,通过可行路径中两两结点之间关联程度的改变,按照比例选择概率确定下一结点,由此得到一条新的可行路径。路径和关联程度之间形成一种正反馈机制,二者相互激励,从而简化了路径搜索方法,提高了路径搜索的效率。仿真研究表明,该算法能有效地提高路径搜索的效率。
A new and fast path planning method based on grid model is proposed for robot. Through our research, the concept of memory quantity and importance of path direction are put forward. The choice of next node is solved with proportional select probability by the change between the relations of two nodes in a feasible path, and a new feasible path can be finally fixed. So, A positive feedback exists between paths and the relations of two crunodes, they inspire with each other. The simulation result indicates that our method is efficient for improving the efficiency of path searching.
出处
《微电子学与计算机》
CSCD
北大核心
2005年第6期98-100,共3页
Microelectronics & Computer
基金
西北工业大学研究生创业种子基金(Z20040048)
西北工业大学创新工程项目资助(M002204)
关键词
栅格法
路径规划
避障
Grid model, Path planning, Obstacle-avoidance.
