[1]国海涛,朱庆保,徐守江,等.基于栅格法的机器人路径规划快速搜索随机树算法[J].南京师范大学学报(工程技术版),2007,07(02):058-61.
 Guo Haitao,Zhu Qingbao,Xu Shoujiang.Rapid-Exploring Random Tree Algorithm for Path Planning of Robot Based on Grid Method[J].Journal of Nanjing Normal University(Engineering and Technology),2007,07(02):058-61.
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基于栅格法的机器人路径规划快速搜索随机树算法
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南京师范大学学报(工程技术版)[ISSN:1006-6977/CN:61-1281/TN]

卷:
07卷
期数:
2007年02期
页码:
058-61
栏目:
出版日期:
2007-06-30

文章信息/Info

Title:
Rapid-Exploring Random Tree Algorithm for Path Planning of Robot Based on Grid Method
作者:
国海涛;朱庆保;徐守江;
南京师范大学数学与计算机科学学院, 江苏南京210097
Author(s):
Guo HaitaoZhu QingbaoXu Shoujiang
School of Mathematics and Computer Science,Nanjing Normal University,Nanjing 210097,China
关键词:
机器人 路径规划 快速搜索随机树 栅格法
Keywords:
robot path planning rap idly-explo ring random tree gr id m ethod
分类号:
TP242
摘要:
针对复杂环境下的机器人路径规划问题,提出了一种全新的基于栅格法的机器人路径规划快速搜索随机树算法.以机器人出发点为随机树的根节点,通过扩展,逐渐增加叶节点直至随机树的叶节点中包含了目标点.从出发点到目标点之间的一条以随机树的边组成的路径就是目标路径.研究表明在同样的环境下与遗传算法、A*算法相比该方法能在更短的时间内找到更优的路径.仿真实验也表明,即使在随机生成的复杂环境下,利用该算法也可以快速规划出一条全局优化路径,且能安全避障.
Abstract:
A new rapid-explor ing random tree a lgo rithm for path plann ing of robo t based on gr id me thod is proposed to p lan an optim al path formob ile robo t in com plex env ironment. The algorithm exp lo res the space and add a new node to a random tree in w hich tha t roo t node is the position o f robo t until the leaf node o f the tree conta ins the goa l node. The path com posed from the edges o f the in itia l node to the goa l node is w he re the robot wa lk by. It is tested that the pro posed algor ithm is m ore effec tive than GA and A* under the sam e env ironm ent. The sim ulation results illustra te tha t the proposed algor ithm can be used to so lv e the path p lann ing fo rm ob ile robo t even in the random com plex env iron- m en t the robot can avo id the obstac les sa fely by the path ga ined by the new algor ithm.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 60673102)和江苏省自然科学基金( BK2006218)资助项目.
作者简介: 国海涛( 1981-) , 硕士研究生, 主要从事人工智能与智能控制的学习与研究. E-m ail: guohaitao2005@ 163. com
通讯联系人: 朱庆保( 1955-) , 教授, 主要从事人工智能与智能控制的教学与研究. E-m ail:zhuqingbao@ n jnu. edu. cn
更新日期/Last Update: 2013-04-29