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요약정보
移动机器人的路径规划技术研究 / Research on Path Planning Technology of Mobile Robot
Resource Type
Academic Journal
Authors
李晨辉
;
王泽峰
;
胡德燕
;
胡连信
;
孙凯悦
;
崔琳
;
吴晟
;
Li Chenhui
;
Wang Zefeng
;
Hu Deyan
;
Hu Lianxin
;
Sun Kaiyue
;
Cui Lin
;
Wu Sheng
Source
机电工程技术 / Mechanical & Electrical Engineering Technology
. 52(1):5-9
Subject
移动机器人
全局规划
局部规划
Language
Chinese
ISSN
1009-9492
Online Access
Find it @ DONGA
초록
路径规划是移动机器人导航的关键技术,其主要应用于移动机器人在静态地图下的自主巡航、实时避障、目标搜索.移动机器人通过静态地图和自身的传感模块感知当前环境下的多变因素,通过分析起始位置和目标位置,利用算法进行路径分析优化,提高其任务完成的高效性、线路最优性以及实时避障能力.针对移动机器人路径规划在不同场景下的应用,其被划分为全局路径规划和局部路径规划.对近年来出现的典型研究算法的原理、应用场景进行了阐述,对其重要指标进行对比,分析算法的优缺点,介绍了各个算法的优化方向,并对移动机器人的路径规划算法的改进方向进行了分析和讨论,最后对其发展进行了展望,提出了算法发展趋势是智能化、融合化的观点,并指出了实现路径.
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