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一种基于双层插值的路径规划及跟踪算法
  • 摘要

    针对基于栅格地图的经典路径规划算法的不足,提出了一种双层插值的路径规划算法--T*算法.算法首先应用快速行军插值法生成目标波形图,波彤图假设波以目标点为中心经四个邻节点向外扩散且沿波传播方向栅格效用值单调递增;然后在生成的目标波形图上采用线性插值法,从机器人当前位置沿着波逆向搜索一条到达目标点的平滑路径;得到规划的路径后,针对非完整约束的移动机器人,采用改进的虚拟车辆方法跟踪生成的路径.实验验证了算法的有效性.

  • 作者

    梁志伟  马旭东  房芳  朱松豪  LIANG Zhiwei  MA Xudong  FANG Fang  ZHU Songhao 

  • 作者单位

    南京邮电大学自动化学院,江苏,南京,210046/东南大学复杂工程系统测量与控制教育部重点实验室,江苏,南京,210096

  • 刊期

    2010年6期 ISTIC EI PKU

  • 关键词

    路径规划  快速行军法  线性插值  目标波形图  路径跟踪 

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