摘要
移动机器人的全局路径规划基本上可分为起点到终点寻优和全覆盖寻优两种。所谓全覆盖寻优路径规划,是指移动机器人快速而高效率地走遍一个区域内除障碍物以外的全部地方。对全覆盖路径规划方法的研究现状加以分析、比较和归纳,对全覆盖路径规划方法的发展趋势和研究方向进行探讨,也介绍作者自己的研究工作,同时对国内外刚开始不久的多机器人协作在全覆盖路径规划领域的研究工作也予以介绍,最后归纳出全覆盖寻优路径规划的发展方向及待解决的问题。
There are mainly two kinds of path planning methods for mobile robot： one is the point to point, the other is the complete coverage. The coverage method can be described as the one that is used by robot to go through whole region except obstacles. First, this paper analyses, compares and induces the study status of complete coverage path planning methods. Then the paper forecasts the trends and directions of coverage path planning methods. Finally the paper introduces the author＇s work on coverage path planning.
出处
《微计算机信息》
北大核心
2006年第03Z期194-197,共4页
Control & Automation
基金
江苏省高校高新技术发展基金资助项目(030420601)
关键词
移动机器人
全覆盖
路径规划
环境地图
区域分解
mobile robots
complete coverage
path planning
environment map
area-decomposition
