关键词: 路径规划, 可定位估计, 移动机器人, 评价函数

Abstract:

A new path evaluation function is proposed to solve the shortcomings of traditional path planning which doesn’t consider the localizability of each point on the path. According to the characteristics of location error transfer in common location algorithms, the location variance can be represented by the location result in [X]-[Y] plane and the estimated variance of the orientation angle and then considering the path safety and length performance, the new path evaluation function is formed. The experimental results show that the evaluation function proposed in this paper can make the path planning obtain an overall optimal path in three aspects of localizability, safety and length.

Key words: path planning, localizability, mobile robot, evaluation function