地标在移动机器人路径规划算法中的应用研究

Linghao Fan, Xiangde Liu, Yi Zhang
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引用次数: 0

摘要

提出了一种将地标信息矩阵QR加入到全局路径规划算法中的方法,用于机器人定位和导航中的地标。研究了该方法对原算法求解速度的影响。这种技术中的奖励和惩罚道具包括周围有许多障碍物的危险地点,带有与地面相连的位置信息的地标,以及两者的结合。三种具有代表性的常用机器人路径规划算法也作为影响因素。通过MATLAB仿真实验,通过对比奖惩前后机器人的行驶路径质量和算法求解速度,找到适合实施奖惩的最优路径规划算法。仿真结果表明,奖惩方法是实用有效的。启发式搜索算法更适合奖惩算法,其路径质量和求解速度都大大提高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Application research of landmarks in path planning algorithms of mobile robots
A way of incorporating landmark information matrix QR to affect the global path planning algorithm is proposed for the use of landmarks in robot localization and navigation. It is also investigated how this method affects the pace at which the original algorithm solves problems. The reward and punishment items in this technique include dangerous locations with lots of obstacles around them, landmarks with location information connected to the ground, and the two combined. Three representative common robot path planning algorithms are also imposed as influences. Through MATLAB simulation experiment, find the optimal path planning algorithm that is appropriate for applying reward and punishment by comparing the quality of the robot's driving path and the algorithm solution speed before and after the reward and punishment. According to the simulation results, the reward and punishment approach is practical and efficient. The heuristic search algorithm is better suited for reward and punishment, and both its path quality and speed of solution have greatly increased.
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