诸葛程晨, 唐振民, 石朝侠. 基于多层Morphin搜索树的UGV局部路径规划算法[J]. 机器人, 2014, 36(4): 491-497. DOI: 10.13973/j.cnki.robot.2014.0491
引用本文: 诸葛程晨, 唐振民, 石朝侠. 基于多层Morphin搜索树的UGV局部路径规划算法[J]. 机器人, 2014, 36(4): 491-497. DOI: 10.13973/j.cnki.robot.2014.0491
ZHUGE Chengchen, TANG Zhenmin, SHI Zhaoxia. Local Path Planning Algorithm for UGV Based on Multilayer Morphin Search Tree[J]. ROBOT, 2014, 36(4): 491-497. DOI: 10.13973/j.cnki.robot.2014.0491
Citation: ZHUGE Chengchen, TANG Zhenmin, SHI Zhaoxia. Local Path Planning Algorithm for UGV Based on Multilayer Morphin Search Tree[J]. ROBOT, 2014, 36(4): 491-497. DOI: 10.13973/j.cnki.robot.2014.0491

基于多层Morphin搜索树的UGV局部路径规划算法

Local Path Planning Algorithm for UGV Based on Multilayer Morphin Search Tree

  • 摘要: 以地面自主车辆(UGV)为实际应用背景,提出了一种基于多层Morphin搜索树的局部路径规划算法.该算法结合车辆非完整性约束构造多层Morphin搜索树,通过模糊Q学习进行动态行为控制的学习,并以此为依据对搜索树进行评估,从而得到一条具备车辆非完整约束的平滑可跟踪路径,克服了传统Morphin算法搜索轨迹不灵活的缺点.最后,通过仿真实验以及实车实验验证了算法的有效性和正确性.

     

    Abstract: Aiming at the application of unmanned ground vehicle (UGV), a local path planning algorithm based on multilayer Morphin search tree is proposed. By considering the nonholonomic constraints of vehicle, a multilayer Morphin search tree is constructed. Then control of dynamic behavior is learned by fuzzy Q-learning, as a basis for the evaluation of search tree to get a smooth and trackable trajectory with nonholonomic constraints of vehicle. This algorithm overcomes the inflexibility of Morphin algorithm in trajectory searching. The simulation results and the test on a real vehicle verify correctness and effectiveness of the algorithm.

     

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