关键词: 移动机器人, 路径规划, 动态规划, 栅格法

Abstract:

The change characteristics of the search state direction and path change of the mobile robot reaching the target are analyzed. The dynamic planning models of descending path search and rising path search are established respectively. According to the characteristics of the values in the whole column, an improved dynamic programming algorithm is also proposed with interactive use of the two models. The simulation results show that the algorithm has better path planning efficiency. The multiple targets planning path can be completed at the same time. The greater environment coverage, the faster the algorithm is executed. The experiment also shows that the improved dynamic programming algorithm can give the optimal path of mobile robot quickly and effectively compared with particle swarm optimization algorithm.

Key words: mobile robots, path planning, dynamic programming, grid method