CAJ | 학술논문

提出了一种基于A＊算法的轮式机器人路径规划方法。首先,构建了轮式机器人运动模型,分析了圆弧和直线运动的实现;其次,阐述了机器人的环境有效移动空隙,并采用链接图法对环境进行建模;再次,结合A＊算法实现了机器人全局静态路径规划。实验验证了方法的有效性。
제출료일충기우A＊산법적륜식궤기인로경규화방법。수선,구건료륜식궤기인운동모형,분석료원호화직선운동적실현;기차,천술료궤기인적배경유효이동공극,병채용련접도법대배경진행건모;재차,결합A＊산법실현료궤기인전국정태로경규화。실험험증료방법적유효성。
A path- planning method of wheel- driven robot based on A ＊ algorithm was proposed. Firstly, the moving model of wheel- driven robot is constructed and the realizations of are moving and direct nmving were analyzed. Secondly, the effective moving space of robot in environment was described and the Malklink graph was used to model the environment. Thirdly, the A ＊ algorithm was combined to real- ize the global static path planning of robot. The experiment showed the validity of method.