Abstract: This paper proposes a new LPN path planning method based on dynamic information model. The purpose integrates obstacle dynamic information in planning method to have better performances in dynamic environments. Through analyzing the defects of original dynamic information model, the paper modifies and proposes a new dynamic information model and integrates it into LPN-method to make path planning. Simulation experiments and tests in RoboCup middle-size robots show the effectiveness of the method.

Key words: Path planning, LPN method, Dynamic information model, RoboCup

摘要： 提出了一种新的基于动态信息模型的LPN路径规划算法。在规划方法中结合障碍物的动态信息在动态环境中能表现出更好的性能。针对原有动态信息模型的不足进行了分析和改进，提出了新的动态信息模型，并结合LPN梯度算法进行路径规划。通过仿真实验与在RoboCup中型组机器人上的测试表明了该方法的有效性。

关键词: 路径规划, LPN算法, 动态信息模型, 机器人足球世界杯

CLC Number: 

• TP 311