| 引用本文: | 吴尔辉,沈林成,常文森.基于转移费用矩阵的机器人路径规划方法.[J].国防科技大学学报,1997,19(3):97-102.[点击复制] |
| Wu Erhui,Shen Lincheng,Chang Wensen.Transition Cost Matrix Based Approach to Robot Path Planning[J].Journal of National University of Defense Technology,1997,19(3):97-102[点击复制] |
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| 基于转移费用矩阵的机器人路径规划方法 |
| 吴尔辉, 沈林成, 常文森 |
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(国防科技大学 自动控制系 湖南 长沙 410073)
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| 摘要: |
| 本文描述了机器人路径规划的一种新方法: 基于转移费用矩阵的机器人路径规划方法。通过定义转移费用矩阵的概念及其上的二元运算, 将最优路径的生成, 转化为矩阵的运算, 使得有限步的矩阵运算, 即可得到环境中所有点间的最优路径, 达到了在预处理阶段构造最优路径集的目的。最后, 介绍了该方法在移动机器人任务规划中的应用。 |
| 关键词: 移动机器人, 路径规划, 转移费用矩阵, 广义胞映射, 地形 |
| DOI： |
| 投稿日期：1997-02-20 |
| 基金项目: |
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| Transition Cost Matrix Based Approach to Robot Path Planning |
| Wu Erhui, Shen Lincheng, Chang Wensen |
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(Department of Automatic Control, NUDT, Changsha, 410073)
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| Abstract: |
| This paper describes a new approach to robot path planning : the transition cost matrix based approach. By defining the concept of transition cost matrix and the 2-ary operator on the transition cost matrix, the optimum paths are generated from the operations on the matrix, thus the optimum paths between all points in the environment can be achieved via limited matrix operations to attain the aim of constructing the optimum path set at the preprocessing stage. The paper ends with the application of the proposed approach for mobile robots’mission planning. |
| Keywords: mobile robot, path planning, transition cost matrix, generalized cell-to-cell mapping, terrain |
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