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- Title
新型树启发式搜索算法的机器人路径规划.
- Authors
胡晓敏; 梁天毅; 王明丰; 李敏
- Abstract
In order to solve the shortest path of mobile robots in a 3D space from the starting point to the ending point, a new edge point tree heuristic diffusion search(Tree-EP)algorithm is proposed. Firstly, the map space is subjected to density-adjustable 3D discretization. Secondly, the reliable edge point information of the obstacles is screened out according to the safe distance of the obstacles. Thirdly, the potential points are selected to perform a diffusion search for guiding the search direction, according to the tree diffusion architecture. Finally the shortest path is created. A local backtracking adjustment strategy is proposed to locally adjust the path in the search process, resulting in an improved Tree-EP algorithm. In the shortest path search application with complex terrain, the experimental results show that the proposed Tree-EP can find shorter moving paths than other existing algorithms.
- Publication
Journal of Computer Engineering & Applications, 2020, Vol 56, Issue 11, p164
- ISSN
1002-8331
- Publication type
Article
- DOI
10.3778/j.issn.1002-8331.1903-0411