文献类型：期刊文献

中文题名：移动机器人全局路径规划算法综述

英文题名：Overview of Global Path Planning Algorithms for Mobile Robots

作者：杨韵[1];王成彦[1];巫凯旋[1];杨诗丹[2];李佳文[1];翁伟涛[2]

机构：[1]广东海洋大学海运学院,广东湛江524005;[2]广东海洋大学海洋工程学院,广东湛江524005

年份：2022

卷号：23

期号：3

起止页码：29

中文期刊名：信息记录材料

外文期刊名：Information Recording Materials

基金：广东省科技创新战略专项资金(攀登计划)项目(pdjh2021b0233)。

语种：中文

中文关键词：移动机器人;全局路径规划;完备性规划算法;概率完备算法

外文关键词：Mobile robot;Global path planning;Completeness planning algorithm;Probabilistic completion algorithm

中文摘要：全局路径规划技术是移动机器人自主导航的关键技术之一,是机器人在路径规划领域的一项重点研究课题。通过对算法进行优化改进以提高移动机器人对环境信息获取的准确度、路径平滑性、减少冗余点和迭代次数便成为移动机器人全局路径规划算法的重点研究对象。本文将全局路径规划分为完备性规划算法和概率完备算法进行分析研究,同时对每种算法进行的优缺点及发展现状和未来趋势进行分析总结;最后指出全局路径规划算法在多算法优势互补融合、多机器人协同规划和结合传感器信息等方面提升和发展。

外文摘要：Global path planning technology is one of the key technologies for autonomous navigation of mobile robots,and it is a key research topic in the field of path planning for robots.The optimization of the algorithm to improve the accuracy of environmental information acquisition,path smoothing,and reduce the number of redundant points and iterations has become the key research object of global path planning algorithm for mobile robots.In this paper,global path planning is divided into completeness planning algorithms and probabilistic completeness algorithms,and the advantages and disadvantages of each algorithm,as well as the current situation and future trends of each algorithm are analyzed and summarized;finally,it is pointed out that the global path planning algorithms are improved and developed in some aspects:complementary integration of multiple algorithms,cooperative planning of multiple robots,and combination of sensor information.