摘要： 针对智能机器人如何以最优探测路线自主探测和构建室内环境地图的问题,提出一种基于滚动窗口的路径规划算法。将传统遍历构图的牛耕遍历方式改进为未知环境的探测策略,并结合滚动窗口实现对未知环境的滚动探测和构图路径规划,同时利用A*算法规划滚动窗口中的局部路径和机器人进入死胡同的逃离路径。仿真结果表明,该算法可以有效减少构图节点,缩短构图路径,使机器人更快速、高效地自主构建环境地图。

关键词: 自主地图构建, 路径规划, 探测算法, A*算法, 牛耕算法

Abstract: Aiming at the problem of how to detect and construct the indoor environment map with an optimal detection route by the intelligent robot,a path planning algorithm based on rolling window is proposed.The detection strategy of unknown environment is improved from the traditional traversal pattern of cattle farming.Combined with the rolling window,the rolling exploration and map building path planning of the unknown environment is realized.Meanwhile,the A* algorithm is used to plan the local path in the rolling window and the escape path when the robot enters a dead end.Simulation results based on different algorithms show that the proposed algorithm can effectively reduce the map building nodes,shorten the map building path,and enable the robot to build the environment map building more quickly and efficiently.

Key words: autonomous map building, path planning, detection algorithm, A* algorithm, cattle farming algorithm

中图分类号: 

• TP242.6