巷战环境中军用机器人路径规划技术研究

摘要

According to the safety of observation and task of synergetic detecting, the fighting environments reed military mobile robot to combine path planning with the task of combat. This paper proposed VSS to plan path for robot and meet above needs. and overcome the deficiencies of NOD in the optimized globle path process. The results of simulation show the rationality and effectiveness of proposed method.%从观测角度安全性及协同侦查任务的特点出发,作战环境对执行侦察任务的地面移动机器人提出了将作战任务与路径规划相结合的路径规划要求.针对这一需求,提出了VSS(Virtual Semi-Siege)对机器人进行路径规划;然后,克服了NOD(No Obstacle Drawing)在优化全局路径的过程中暴露的缺陷,并进行数字仿真验证.仿真结果表明,提出的方法合理、有效.