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动态环境中移动机器人路径规划.docx

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动态环境中移动机器人路径规划 Abstract Inrecentyears,mobilerobotshavebecomeincreasinglypopular,astheyarecapableofmovingindynamicenvironmentsandcompletingtaskspreviouslythoughtimpossible.Oneofthekeychallengesfacingmobilerobotsispathplanning,whichistheprocessoffindingtheoptimalpathforarobottotakeinordertoreachitsdestinationwhileavoidingobstacles.Inthispaper,wereviewdifferenttechniquesforpathplanningindynamicenvironmentsandcomparetheirstrengthsandlimitations.Wealsoproposeanovelapproachtopathplanningindynamicenvironmentswhichcombinesreactiveanddeliberativeplanning,anddemonstrateitsefficiencythroughsimulations. Introduction Pathplanningindynamicenvironmentsisachallengingproblembecausetheenvironmentisconstantlychanging.Mobilerobotsneedtobeabletoadapttouncertaintyandreactquicklytonewinformationinordertoavoidcollisionsandreachtheirdestinationsafely.Thereareseveralapproachestopathplanningindynamicenvironments,includingreactiveplanning,deliberativeplanning,andhybridplanning.Reactiveplanningisasimpleapproachthatrespondstochangesintheenvironmentbyadjustingtherobot’strajectoryonthefly.Deliberativeplanning,ontheotherhand,involvesgeneratingacompleteplanbeforetherobotstartsmoving.Hybridplanningcombinesbothreactiveanddeliberativeplanningtocreateamorerobustplanningsystem. Inthispaper,wereviewdifferentpathplanningtechniquesandcomparetheiradvantagesanddisadvantagesindynamicenvironments.Wealsoproposeanewapproachtopathplanningindynamicenvironments,whichcombinesreactiveplanninganddeliberativeplanningtooptimizetherobot'spath. PathPlanningTechniquesinDynamicEnvironments ReactivePlanning Reactiveplanningisasimpleapproachtopathplanning,wheretherobotrespondstochangesintheenvironmentastheyoccur.Thisapproachisusefulinhighlydynamicenvironmentswherethingsareconstantlychanging,makingitdifficulttocreateacompleteplaninadvance.Reactiveplanningreliesonsensorstogatherinformationabouttheenvironment,suchasthelocationofobstacles,andadjuststherobot'strajectoryaccordingly. Oneofthemainadvantagesofreactiveplanningisitssimpl