摘要
将势场法和栅格法结合,设计了一种改进的势场栅格法。该方法通过对栅格属性的设置来弥补势场法的缺点,并应用于移动机器人的静态全局路径规划中。在Visual C++6.0中进行仿真,仿真结果表明该方法克服了单一的势场法和栅格法的缺点,利用该方法进行路径规划是可行的和有效的。
An improved potential grid method is devised by combining potential field method with grid method, which can make up the shortcomings of potential field method through setting grid attribute and is applied to static global path planning of the mobile robot. Simulation is carried out with Visual C ＋ ＋ 6. 0. The results indicate that this method can overcome the shortcomings of simple potential filed and grid method, and it is feasible and effective in path planning.
出处
《长春大学学报》
2009年第2期38-42,共5页
Journal of Changchun University
关键词
势场法
栅格法
路径规划
potential field method
grid method
path planning
