基于改进D*算法的移动机器人路径规划

摘要

移动机器人自主导航是机器人智能化的关键技术，其核心是精确的定位和实时路径规划。路径规划分为全局路线的规划和局部行进中实时动态规划，目前的机器人路径规划方案中还存在不足之处：全局规划中效率不高，局部规划中动态避障存在实时性差。该算法采用全局规划A*算法与局部规划改进D*与动态窗口法（DWA）相结合，在turtlebot机器人上进行测试，结果表明该算法效率高、实时性强。在现有机器人路径规划方案的基础上提出并实现了一套基于室内移动机器人的路径规划方案。%The current robot path planning stil exist deficiencies:global planning efficiency is not high,local planning in dynamic obstacle avoidance to the existence of poor real-time.Useing the global planning algorithm and local planning and dynamic window method (DWA) to test the turtlebot robot,the results show that the algorithm is efficient and real-time is better.In this paper,a path planning scheme based on indoor mobile robot is proposed and implemented on the basis of the existing robot path planning scheme.