基于V距离势场的实时滚动路径规划

张育, 席裕庚. 基于V距离势场的实时滚动路径规划[J]. 机器人, 1997, 19(5): 350-355.

引用本文:

张育, 席裕庚. 基于V距离势场的实时滚动路径规划[J]. 机器人, 1997, 19(5): 350-355.

ZHANG Yu, XI Yugeng. REAL TIME ROLLING PATH PLANNING BASED ON V-DISTANCE FIELD[J]. ROBOT, 1997, 19(5): 350-355.

Citation:

ZHANG Yu, XI Yugeng. REAL TIME ROLLING PATH PLANNING BASED ON V-DISTANCE FIELD[J]. ROBOT, 1997, 19(5): 350-355.

REAL TIME ROLLING PATH PLANNING BASED ON V-DISTANCE FIELD

摘要: 本文针对移动机器人作业环境中存在大量未知障碍，而其传感器探测范围有限的特点，采用V距离势场，通过势场的局部增量修改，实现实时滚动路径规划，并通过仿真说明了其有效性．

Abstract: In this paper, a new potential field (V-distance field) is presented based on which some novel rolling path planning algorithms are proposed for sensor-equipped mobile robot moving in environment full of unknown and even moving obstacles. The effectiveness of the algorithms are also demonstrated by simulation examples.

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