未知环境下移动机器人实时路径规划-情报资料工作-计算机工程与应用.PDF

140 2018 ，54（19） Computer Engineering and Applications 计算机工程与应用 未知环境下移动机器人实时路径规划用 张捍东，陈 阳，吴玉秀 应 ZHANG Handong, CHEN Yang, WU Yuxiu 与 安徽工业大学 电气与信息工程学院，安徽 马鞍山 243002 程 School of Electrical and Information Engineering, Anhui University of Technology, Ma ’anshan, Anhui 243002, China g 工 r o ZHANG Handong, CHEN Yang, WU Yuxiu. Real time path planning for mobile robot in unknown environment. . j Computer Engineering and Applications, 2018, 54 （19）：140-146. 机 a 算 e Abstract ：In order to solve the problem of real-time path planning for mobile robot in unknown environment, a path c . planning algorithm combining Rapidly-exploring Random Tree （RRT ）algorithm with visual field adaptive rolling window 计 w is proposed. The method obtains local environment information in the scroll window in real time, according to the environ- mental change, adjusts the rolling window view, analyzing the information obtained by sensor in the scroll window, w combined with the improved RRT algorithm to screen out the feasible path, controls the mobile robot arrive at the sub w target point. In this process, the path is dynamically monitored to ensure a reasonable path, and repeat this process until it reaches the target area. Experiments show that the proposed method can realize real-time path planning for mobile robots effectively in unknown environments. Key words ：mobile robot; Rapidly-exploring Random Tree （RRT ）; self-adaptation rolling window; dynamic monitoring; real time path pla