动态环境下自主移动机器人路径规划复杂度研究

Sixth International Conference on Intelligent Systems Design and Applications Pub Date : 2006-10-16 DOI:10.1109/ISDA.2006.38

Hongyan Shi, Xiaoming Sun, Changzhi Sun, Dongyang Chen, Yuejun An

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引用次数: 5

摘要

利用李雅普诺夫指数和功率谱分析两种方法，验证了自主移动机器人从传感器获取的机器人与障碍物之间的距离信息在时间序列上存在混沌现象。利用混沌现象解释了动态环境下自主移动机器人通过传感器进行路径规划的复杂性。混沌现象的存在使得自主移动机器人在动态环境下的路径规划具有NP-hard，也为揭示自主移动机器人在动态环境下导航具有NP-hard的原因奠定了基础

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Research of the Path Planning Complexity for Autonomous Mobile Robot under Dynamic Environments

By using the two methods of Lyapunov exponent and power spectra analysis, it is tested and verified that chaotic phenomenon exists in time sequence of distance information that autonomous mobile robot has got from sensors between robots and obstacles. The complexity of path planning for autonomous mobile robot through sensors is explained under dynamic environments by use of chaotic phenomenon. The existence of chaotic phenomenon makes the path planning for autonomous mobile robot under dynamic environments NP-hard and also lays the foundation for revealing why navigation of autonomous mobile robot under dynamic environments is NP-hard

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来源期刊

Sixth International Conference on Intelligent Systems Design and Applications

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