摘要
针对机器人路径规划问题,提出一种基于几何相交测试的路径规划方法.该方法首先搜索位于当前路径点到目标点连线上的首障碍栅格;然后结合贪婪法、回溯法和邻域搜索策略从障碍栅格邻域搜索下一个路径栅格;接着从新的路径点出发迭代搜索后续的路径点,从而确定从起点到目标点的路径;最后对得到的最好路径进行路径点合并以提高路线的连贯性.实验结果表明,新方法规划的路径性能优于其他同类算法,路径呈现出更好的连续性,规划时间能满足实际应用的要求.
For the problem of robot path planning,a geometry intersection testing based path planning algorithm is presented.Firstly,the first obstacle grid is searched in the configuration space which lies on the oriented segment from start to target.By combining the greedy method and backward strategy,the grid where next way point lies is determined from the neighbors of the first obstacle grid by local searching.Then subsequent way points are obtained iteratively scratching from the last obtained way point in order to get some routes from start to target as possible.Finally,the best route is refined by incorporating subroutes to maintain the consistency of trajectory.The experimental results show that,the presented method can plan a shorter and more reasonable path than other algorithms,which represents higher consistency of trajectory,and the computing time can meet the requirement of practical application.
出处
《控制与决策》
EI
CSCD
北大核心
2011年第11期1695-1698,1705,共5页
Control and Decision
基金
国家自然科学基金项目(60963002)
江西省自然科学基金项目(2009GZS0090)
关键词
栅格
相交测试
连贯性
路径规划
grid
intersection testing
consistency
path planning
