移动机器人路径规划算法综述

A Survey of Path Planning Algorithms for Mobile Robots

摘要:

路径规划算法是实现移动机器人自主导航的关键技术。针对移动机器人路径规划技术进行研究,分析各算法的实现机制与原理,并系统性的总结了主流路径规划算法研究现状。根据移动机器人路径规划算法的特点,将路径规划算法分为：传统规划算法、智能规划算法、基于采样的规划算法。基于以上分类,分述近年来的主要研究成果,重点分析各类算法的优缺点。针对移动机器人路径规划算法研究现状,对其未来研究方向进行展望,为移动机器人路径规划大发展提供一定的思路。

Abstract:

Path planning algorithm is the key technology to realize autonomous navigation of mobile robot. Aiming at the research on mobile robot path planning technology, the realization mechanism and principle of each algorithm are analyzed, and the research status of mainstream path planning algorithms is systematically summarized. According to the characteristics of the mobile robot path planning algorithm, the path planning algorithm is divided into: traditional planning algorithm, intelligent planning algorithm, and sampling-based planning algorithm. Based on the above classification, the main research results in recent years are described separately, and the advantages and disadvantages of various algorithms are mainly analyzed. In view of the research status of mobile robot path planning algorithm, the future research direction is prospected, which provides some ideas for the development of mobile robot path planning.