A new path planning for robot in dynamic and unknown environments

BAI Jin-ke; CHEN Li-jia; JIN He; CHEN Rui-xia; MAO Hai-tao

doi:10.13873/j.1000-97872011.10.046

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A new path planning for robot in dynamic and unknown environments

更新时间：2025-09-11

- A new path planning for robot in dynamic and unknown environments
- Vol. 30, Issue 10, Pages: 33-36(2011)
- 作者机构：
  
  河南大学物理与电子学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.10.046
  CLC： TP242.6
- Published：2011
- 稿件说明：
移动端阅览
[1]白金柯,陈立家,金何,陈瑞霞,毛海涛.动态未知环境下一种新的机器人路径规划方法[J].传感器与微系统,2011,30(10):33-36.

BAI Jin-ke, CHEN Li-jia, JIN He, et al. A new path planning for robot in dynamic and unknown environments[J]. 2011, 30(10): 33-36.
[1]白金柯,陈立家,金何,陈瑞霞,毛海涛.动态未知环境下一种新的机器人路径规划方法[J].传感器与微系统,2011,30(10):33-36. DOI： 10.13873/j.1000-97872011.10.046.

BAI Jin-ke, CHEN Li-jia, JIN He, et al. A new path planning for robot in dynamic and unknown environments[J]. 2011, 30(10): 33-36. DOI： 10.13873/j.1000-97872011.10.046.

摘要

针对机器人动态路径规划问题

提出了一种机器人在复杂动态环境中实时路径规划方法。该方法基于滚动窗口的路径规划和避障策略

通过设定可视点子目标、绕行障碍物和对动态障碍物的分析预测

实现机器人在复杂动态环境下的路径规划。针对障碍物分布情况

合理设计可视点法和绕行算法之间转换

有效地解决了局部路径规划的死循环与极小值问题。该方法用于凸形障碍物、凹形障碍物共存的动态环境

仿真结果证明了该方法的有效性和可行性。

Abstract

Aiming at the dynamic path planning problem of robot

a new method which implements real-time path planning of mobile robot in complex dynamic environment is proposed.This method is based on path planning and obstacle avoidance strategy for rolling windows

according to visible point sub-goal setting

obstacle detour

analysis and forecast for moving obstacle

path planning for robot in complex dynamic environment is realized.Aiming at obstacles distribution

reasonable design on exchange between visible point and circumvent algorithm based on the obstacle distribution state

this could resolve infinite loop and minima problem that happened in local path planning.This proposed method is suitable for dynamic environment that both convex and concave obstacle exist.Simulation result proves its validity and feasibility.

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references

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基于虚拟子目标的移动机器人主动寻径导航 [J]. 仲朝亮,刘士荣. 机器人 . 2009(06)

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复杂环境下基于势场原理的路径规划方法 [J]. 高云峰,黄海. 机器人 . 2004(02)

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全局环境未知时基于滚动窗口的机器人路径规划 [J]. 张纯刚,席裕庚. 中国科学E辑:技术科学 . 2001(01)

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