面向二维移动机器人的路径规划算法综述

doi:10.3778/j.issn.1002-8331.2212-0050

摘要/Abstract

摘要： 路径规划技术是移动机器人避开障碍物且快速移动到目标点的有效方法。为了了解不同环境条件下路径规划策略的发展，找出研究差距，回顾了移动机器人及其路径规划的发展历史；将移动机器人路径规划算法分为两大类：基于先验信息的全局路径规划和基于传感器信息的局部路径规划，重点对相关算法进行了优缺点概述以及分析总结；此外列举了一些新颖的方法，目的是缩短移动机器人的规划时间，亦或是得到最优的路径；强调了移动机器人路径规划算法在未来的几个可以深入研究的方向。

关键词: 移动机器人, 路径规划算法, 全局路径规划, 局部路径规划

Abstract: The robot is no longer a distant object, and the path planning technology is an efficient way for the robot’s ability to avoid obstacles and move quickly to the target point. In order to understand the development of path planning strategies under different environmental conditions and find out the research gap, this paper reviews the development history of mobile robot and its path planning. Then, the path planning algorithms of mobile robots are divided into two categories：global path planning based on prior information and local path planning based on sensor information, and the advantages and disadvantages of the related algorithms are summarized and analyzed. Some novel methods are also listed in order to shorten the planning time of the mobile robot or to get the optimal path. Finally, several directions for further research on the path planning algorithm of mobile robots in the future are emphasized.

Key words: mobile robot, path planning algorithm, global path planning, local path planning

王旭, 朱其新, 朱永红. 面向二维移动机器人的路径规划算法综述[J]. 计算机工程与应用, 2023, 59(20): 51-66.

WANG Xu, ZHU Qixin, ZHU Yonghong. Review of Path Planning Algorithms for Mobile Robots[J]. Computer Engineering and Applications, 2023, 59(20): 51-66.

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