CAJ | 학술논문

本文对基于空间数据库的移动机器人路径规划算法中引入先裁剪再检索的思想,在此基础上提出一种全新的移动机器人路径规划算法.该算法能使规划的路径成功地得到短的无碰路径,而且收敛速度明显加快;除了适用于障碍物是多边形围成的图形外,还适用于障碍物是圆形的情形;允许设定不同的障碍物各条边的模拟退火初始温度,从而能够简单地避免某些局部极小值的情况.
본문대기우공간수거고적이동궤기인로경규화산법중인입선재전재검색적사상,재차기출상제출일충전신적이동궤기인로경규화산법.해산법능사규화적로경성공지득도단적무팽로경,이차수렴속도명현가쾌;제료괄용우장애물시다변형위성적도형외,환괄용우장애물시원형적정형;윤허설정불동적장애물각조변적모의퇴화초시온도,종이능구간단지피면모사국부겁소치적정황.
The idea that is the cutting of sapatial database before, index is put up. Base on the cutting of sapatial database, an im-proved algorithm is proposed for path planning, as a result, acquiring shorter collision free path than original algorithm. This method computes simply and convergent velocity is rapid. It not only fits the polygonal barriers but also fits the circular barriers. It provides an available algorithm for optimum path planning of mobile robots.