郭戈. 移动机器人路径规划与环境绘图[J]. 机器人, 2003, 25(4): 304-307.
引用本文: 郭戈. 移动机器人路径规划与环境绘图[J]. 机器人, 2003, 25(4): 304-307.
GUO Ge. PATH PLANNING AND MAPPING WITH MOBILE ROBOT[J]. ROBOT, 2003, 25(4): 304-307.
Citation: GUO Ge. PATH PLANNING AND MAPPING WITH MOBILE ROBOT[J]. ROBOT, 2003, 25(4): 304-307.

移动机器人路径规划与环境绘图

PATH PLANNING AND MAPPING WITH MOBILE ROBOT

  • 摘要: 由于双圆弧具有满足任意端点及其斜率条件的特性,所以非常适合于移动机器人路径规划问题.本文利用双圆弧来处理机器人在给定环境中的路径规划问题,并由此得出机器人的路径规划策略及其跟踪控制算法.同时,利用双圆弧实现对拐角、多边形等特征地形的逼近和复原,提出了机器人对未知环境的勘测及绘图算法.该方法简单有效,对机器人初始条件不加限制,计算量非常小,具有较高的实用价值.

     

    Abstract: Bi-arcs are used in this paper to solve the path-planning problem for mobile robot exploration because they meet two end-point and two end-tangent conditions, namely the initial and terminal positions and tangents of mobile robots. A path planning strategy and a corresponding tracking control algorithm, both for given environment, are presented based on bi-arc path representation. Meanwhile data of characteristics landforms such as corners and polygons are approximated using bi-arcs to derive a novel exploration and mapping algorithm for unknown environment. The method presented here is simple, effective and computationally undemanding and it has no restraints on the initial conditions of mobile robots.

     

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