运动规划
路径(计算)
启发式
机器人
计算机科学
代表(政治)
数学优化
树(集合论)
任意角度路径规划
人工智能
数学
政治学
政治
数学分析
程序设计语言
法学
作者
Ying Huang,Yingxu Wang,Omar A. Zatarain
标识
DOI:10.1109/iccicc46617.2019.9146050
摘要
Robot is an autonomous system that integrates advances AI technologies. This paper deals with the adaptive path planning and optimization problems for robots in dynamic environments. We propose a novel route planning method based on the maze representation of workplace layouts. We generate a universal path tree by a path optimization algorithm. Then, any given entrances and exits of target nodes can be reduced to a deterministic path searching problem. Our method can quickly determine the optimal path between any pair of entrance/exit nodes. The maze-based method provides an efficient and robust route planning solution for robots in real-time and dynamic workplaces. Experiments have demonstrated the effectiveness of the method beyond traditional heuristic technologies.
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