移动机器人路径规划综述

Survey on technology of mobile robot path planning

摘要:

移动机器人是目前科学技术发展最活跃的领域之一，在工业、农业、医疗等行业广泛应用，还在城市安全、国防和空间探测领域得到更广的应用。要实现机器人在未知环境下自主作业，具备实时、自主、识别高风险区域和风险管理的能力，路径规划是一个重要环节，规划水平的高低，在一定程度上标志着机器人的智能水平，因此研究机器人路径规划对提高机器人的智能化水平、加快工程化应用具有重要的意义。文章重点分别从全局路径规划和局部路径规划角度对机器人路径规划的研究方法进行了分析与总结，同时分析研究了基于仿生学的智能算法的遗传算法、蚁群算法、粒子群算法，最后展望了移动机器人的未来发展趋势。

Abstract:

Mobile robot is one of the most active areas of scientific and technological development. It is widely used not only in industry, agriculture and medical care, but also in urban security, national defense and space exploration. To realize the autonomous operation of intelligent mobile robots in an unknown environment, with real-time, autonomous, identification of high-risk areas and risk management capabilities, robot path planning is an important link, The level of path planning indicates the level of intelligence of robots to a certain extent. Therefore, researching robot path planning technology is of great significance to improve the intelligence level of robots and accelerate the process of engineering application. It is summarized and analyzed that the research methods of robot path are planning from the perspective of global path planning and local path planning in the paper. At the same time, path planning techniques based on bionics genetic algorithm, ant colony algorithm and particle swarm algorithm are introduced. Finally, the future development trend of mobile robot path planning is forecasted.