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路径规划是机器人学中的一个重要课题.目前的研究主要分为全局规划方法和局部规划方法两大类.全局规划方法主要是以基于构形空间的几何法和拓扑法为主;而局部规划方法主要是以基于直角坐标空间的人工势场法为主.在对一些较有代表性的研究思想及其相关算法分析的基础上,本文提出了机器人路径规划今后的研究重点.
Abstract：Path planning is one of important topics in robotics. The research has been studied extensively thus far with two essential sorts. One is global planning approach, and the other is local planning approach. Global planning approach primarily includes geometric method and topological method based on configuration space while the local one chiefly involves artificial potential field method based on Cartesian space. On the basis of the analysis of some typical ideas, methods and related algorithms of path planning for mobile and manipulator robots, this paper proposes the future research emphasis of robot path planning.
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基本信息:
DOI：10.13774/j.cnki.kjtb.2004.03.008
中图分类号:TP242.2
引用信息:
[1]庄慧忠,杜树新,吴铁军.机器人路径规划及相关算法研究[J].科技通报,2004(03):210-215.DOI:10.13774/j.cnki.kjtb.2004.03.008.