摘要
最短路径规划是一种点对点的路径规划方式,移动机器人最短路径规划研究即是实现始点和终点间最短路径规划问题的研究。首先采用栅格地图的方式对移动机器人工作环境建模,在建模的基础上,以垂线法方式选择移动机器人路径中的关键节点,确定关键节点的位置和权值关系,并根据所选节点,基于Floyd算法进行移动机器人的最短路径规划,以及对规划的路径算法进行简化改进,通过实验证明,改进的Floyd算法能实现移动机器人路径的最短和用时的相对减少。
The shortest path planning is one of the point to point path planning methods,and the shortest path plan-ning of mobile robot is to choose the shortest path from the start point to the end point.In this paper,the working environment of mobile robot is modeled using grid map method firstly.Based on the modeling,a perpendicular ap-proach is used to choose the key path node of the mobile robot’s path and the relationship between location and weight of key node is confirmed.At last,Floyd algorithm is proposed to plan the shortest path of mobile robot based on choosing path node,and the path planning algorithm is predigested and ameliorated.Simulation results show that the shortest path and time consumption of mobile robot can be realized using the improved Floyd algorithm.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2009年第10期2088-2092,共5页
Chinese Journal of Scientific Instrument
基金
国家重点基础研究发展计划(2007CB311005)资助项目
关键词
路径规划
FLOYD算法
垂线法
最短路径
path planning
Floyd algorithm
perpendicular approach
shortest path
