非结构化环境中基于栅格法环境建模的移动机器人路径规划

摘要

以非结构化环境中移动机器人路径规划问题为研究对象，阐述了基于栅格法进行环境建模和基于人工势场法进行路径规划的思想及方法。基于MATALAB，通过边走边测和完全遍历两种策略的栅格法进行环境建模，使环境中的信息能够实时更新以保证环境模型的准确性，同时基于人工势场法进行路径规划。结果表明：在非结构化环境中，基于栅格法环境建模和人工势场法结合路径规划的方法规划出来的路径具有很好的实用性、合理性、实时性和环境变化适应性。%The path planning problem of mobile robot in unstructured environment was studied as an object .The idea and method of path planning based on grid method to model the environment and artificial potential field method were described .Two strategies were used for environment modeling based on the MATALAB , one was by walk while measuring and another was complete coverage .The in-formation in the environment could be real time updated to ensure the accuracy of the environment model .At the same time , a path could be planned based on artificial potential field method .The results show that in an unstructured environment , the path which based on grid environment modling and path planning method of combining the artificial potential field method , has very good practicability and rationality , real time and adaptability to environment changes .