摘要
为了大大降低移动机器人的移动代价,路径规划系统必须为移动机器人设计出一条安全系数高,移动时间短,电量消耗少的最优路径,同时还必须满足移动机器人准确避开障碍物的物理特性。根据上述研究目的和要求,选择快速扩展随机树(RRT)作为路径规划算法的主体,嵌入Dijkstra算法对RRT算法加以改进,从而实现移动机器人最小代价路径的规划仿真。
In order to reduce the moving cost of the mobile robot greatly,the path planning system must design an optimal path for the mobile robot with high safety factor,short processing time and low power consumption,and must also meet the physical characteristics that the mobile robot accurately avoids the obstacle.According to the purpose and requirements of the above research,chooses Rapidly-exploring Random Tree（RRT） algorithm as the main body of path planning algorithm,and embeds Dijkstra algorithm to improve RRT algorithm so as to achieve the planning and simulation of minimum cost path for mobile robot.
作者
金丹
JIN Dan(College of Information Engineering, Shanghai Maritime University, Shanghai 20130)
出处
《现代计算机》
2018年第12期41-44,共4页
Modern Computer
