作　　者： (王智龙）; (沈景凤）;

机构地区： 上海理工大学机械工程学院,上海200093

出　　处： 《电子科技》 2017年第9期68-71,共4页

摘　　要： 以清洁机器人的规划为研究对象,通过对清洁机器人的运动过程进行建模分析,提出了现行采用的路径记忆的规划方案和基于动态地图建立的路径规划方案,通过多方案的实验与研究,尽可能实现让清洁机器人的运行轨迹布满整片区域,同时能够避开障碍,减少运动轨迹的重复率,从而实现较为高效简洁的路径规划。 Based on the planning of cleaning robot as the research object, through analyzing the motion process of cleaning robot modeling, which is put forward using the path to the memory of the present planning scheme and path planning based on dynamic map, by experiment and research more, achieving as close as possible to make the operation of the cleaning robot trajectory is full of the whole area, at the same time to avoid obstacles, minimize the trajectory of the repetition rate, so as to realize the path planning of a more efficient and concise.

关 键 词： 路径规划 直角坐标系 极坐标系 路径记忆 路径规划方案