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提出了一种移动机器人局部运动规划方法,用于增强机器人的寻优能力,降低时间复杂度.该运动规划方法以相对方位作为导航中决策的基本依据.这种决策方法完全抛弃了决策过程中的全局评估部分,采用了一种单纯的局部评估策略;通过减少评估中的时间消耗,运动规划算法的实时性得到了提高;同时,采用了一种预测法来弥补算法寻优能力的损失.理论分析和仿真实验均表明:该局部运动规划方法的时间复杂度较低,并且有助于规划出一组较好的运动序列.
A method of local motion planning for mobile robot is proposed to enhance the searching ability of robots and reduce the time complexity.The method uses relative orientation as the basic basis for decision making in navigation.The method completely abandons the decision making process , A simple local evaluation strategy is adopted. By reducing the time consumption in the evaluation, the real-time performance of the motion planning algorithm is improved. At the same time, a prediction method is used to make up for the loss of the optimization ability of the algorithm. Both theoretical analysis and simulation experiments show that the local motion planning method has lower time complexity and helps to plan a better motion sequence.