运动规划
数学优化
计算机科学
路径(计算)
任意角度路径规划
全局优化
移动机器人
规划师
局部搜索(优化)
选择(遗传算法)
采样(信号处理)
机器人
数学
人工智能
滤波器(信号处理)
计算机视觉
程序设计语言
作者
Zhiqiang Jian,Songyi Zhang,Shitao Chen,Zhixiong Nan,Nanning Zheng
出处
期刊:IEEE robotics and automation letters
日期:2021-07-01
卷期号:6 (3): 5349-5356
被引量:26
标识
DOI:10.1109/lra.2021.3074878
摘要
The path planning of mobile robots is an optimization problem that is difficult to solve directly owing to its nonlinear characteristics. This letter proposes the “global-local” Coupling Two-Stage Path Planning (CTSP) method. First, the globally optimal solution in the configuration space is given by the global planner. Then, in the local planning stage, the optimal solution of the local environment is constantly searched, guided by the prior information of the globally optimal solution. The strategy used in the global planning stage is the iterative optimization method based on an initial solution. The local planning stage adopts the sampling-evaluation strategy, that is, sampling the candidate paths and then using the evaluation function to perform path selection. The proposed method has two innovations: 1) a novel global iterative optimization method is proposed and 2) a new cost function for evaluating the sampled paths is constructed, which improves the coupling of the global and local paths. We implement and test this method in a simulation environment, where the experimental results verify the effectiveness of the proposed method.
科研通智能强力驱动
Strongly Powered by AbleSci AI