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移动机器人技术研究中的一个重要领域是路径规划技术。所谓移动机器人路径规划是指各机器人在同一工作空间中规划一条避障导航的运动路径,保证每一时刻机器人与机器人之间无碰撞、机器人与环境障碍物之间无碰撞。从单机器人到多机器人的路径规划已有很多算法,首先从多机器人协作性质、环境信息和机器人结构三方面分别介绍多机器人路径规划方法,主要有全局路径规划方法、局部路径规划方法、集中式路径规划方法、分布式路径规划方法、混合式路径规划方法,再指出各种方法的优点和不足,最后对多移动机器人路径规划技术的发展趋势进行展望:传统的规划方法和新的智能方法的结合;多传感器融合;性能指标的提高。
Abstract：Mobile robot path planning technology is one of the important domains in mobile robot technologies research.Mobile path planning is that robots reach goal point from the beginning point in unknown environment during the path planning,nocollidance among robots and stumbling blocks.The path-planning from single robot to multi-robot has many algorithms,this article introduces the path planning from coordination,environment information and robot architecture: such as global path planning,local path planning,concentrated path planning,decentralized path planning and blended path planning.In addition,the advantages and disadvantages of these algorithms are pointed out.At last,the trend of multiple mobile robots path planning is described: traditional and intelligent path planning integrated;multi-sensor amalgamated;capability index improved.
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基本信息:
DOI：
中图分类号:TP242
引用信息:
[1]邬再新,李艳宏,刘涛.多移动机器人路径规划技术的研究现状与展望[J].机械,2008(01):1-3+16.
基金信息: