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以移动机器人的路径规划方法为问题点,提出障碍变化条件下的行车路线混沌检索自主规划方法。将原始环境数据存储在系统中,采用CCD摄像头采集实时图像信息,在遇到未知障碍时以混沌检索的方式对网络能量进行极值搜索,重新规划行车路径。通过能量函数中非线性项调节可实现候选路径的有效寻优。实验结果显示了所提方案的有效性,对移动机器人的路径自主规划有借鉴意义。
Taking the path planning of mobile robot as a problem point, an autonomous planning method of chaos search for driving directions under the condition of changing obstacles is proposed. The original environmental data is stored in the system. The CCD camera is used to collect real-time image information. In the event of an unknown obstacle, the network energy is searched for by the chaos search and the driving route is re-planned. The effective optimization of the candidate path can be achieved by adjusting the nonlinear term in the energy function. The experimental results show the effectiveness of the proposed scheme and have reference significance for autonomous planning of mobile robots.