机器人中的运动规划算法以及基于时间的性能分析

2017 2nd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT) Pub Date : 2017-05-01 DOI:10.1109/RTEICT.2017.8256662

Shubham Sharma, Sanket Lakhtariya, S. Mehta

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引用次数: 0

摘要

一个*算法以寻找给定地图上从起点到目标的最短路径而闻名。本文提出了一种基于python的方法，当有多个起点(最多2个)和目标(最多2个)时，利用它进行机器人遍历。它展示了如何为每个目标获得定制的启发式矩阵，这有助于缩短最短路径查找的运行时间，并且是a *的支撑支柱。为了演示该算法，使用基于MATLAB的GUI创建2D地图，使用基于python的脚本返回最短路径。然后在GUI上显示此路径。

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Algorithmic motion planning in robotics along with time based performance analysis

A∗ algorithm is well known for finding the shortest path from a starting point to a goal on a given map. This paper presents a method which makes use of it for robotic traversal when there are multiple starts (up to 2) and goals (up to 2), which is based on python. It shows how a customized heuristic matrix for every goal be obtained, which helps cutting down the runtime, for shortest path finding and is the supporting pillar of A∗. For the demonstration of the algorithm, a MATLAB based GUI is used to create a 2D map using which the python based script returns the shortest path. This path is then shown on the GUI.

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2017 2nd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT)

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