ROLLING PATH PLANNING OF MOBILE ROBOT IN DYNAMIC UNKNOWN ENVIRONMENT
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摘要: 本文借鉴预测控制滚动优化原理，研究了全局环境未知且存在动态障碍物情况下的机器人路径规划问题．文中提出的基于滚动窗口的移动机器人路径规划方法充分利用机器人实时测得的局部环境信息，以滚动方式进行在线规划，实现了优化和反馈的合理结合，对动态环境具有良好的适应性．Abstract: Using the rolling optimization concept adopted in predictive control, robot path planning in global unknown environment with moving obstacles is studied. A new strategy of path planning based on rolling windows for a mobile robot is proposed. The method makes full use of the real-time local environmental information detected by the robot and the path planning is performed on-line in a rolling style. Optimization and feedback are combined in a reasonable way. It is well suitable to dynamic environment.
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Keywords:
- robot path planning /
- rolling plan /
- scenario prediction
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