基于局部探测信息的机器人滚动路径规划

摘要

用基于滚动窗口的路径规划方法研究了全局环境未知时的机器人路径规划问题.该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,实现了优化与反馈的合理结合.文中分析了不同凸障碍环境下滚动路径规划子目标选择策略,并且还探讨了规划算法的可达性.%Using the path planning method based on rolling windows, robot path planning in a globally unknown environment is studied. The method makes full use of real-time environmental information locally detected by the robot and the on-line planning is performed in a rolling style. Mechanisms of optimization and feedback are combined in a feasible way. The subgoal determination strategy of rolling path planning is analyzed according to various convex obstacle environment. And the accessibility of the planning algorithm is also discussed.