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

摘要：

针对静态栅格环境下的移动机器人全局路径规划问题，通过分析移动机器人到达目标的搜索方向和路径变化的动态特征，分别建立下降路径搜索动态规划模型和上升路径搜索动态规划模型，并依据整列元素路径值变化特点设计了两种模型交互使用的改进动态规划算法。仿真实验结果表明算法具有较好的路径规划效率，可以同时完成多个目标路径规划，且覆盖率越大的环境求解越快速。实验也表明改进动态规划算法同蚁群算法对比能够更快速有效地给出移动机器人较优通行路径。

关键词: 移动机器人, 路径规划, 动态规划, 栅格法