基于变维度状态空间的增量启发式路径规划方法研究

张浩杰; 龚建伟; 姜岩; 熊光明; 陈慧岩

doi:10.3724/SP.J.1004.2013.01602

基于变维度状态空间的增量启发式路径规划方法研究

doi: 10.3724/SP.J.1004.2013.01602

1.
北京理工大学机械与车辆学院智能车辆研究中心北京 100081;
2.
中国北方车辆研究所北京 100072

基金项目:

国家自然科学基金(51275041, 90920304)资助

详细信息

作者简介:
张浩杰北京理工大学智能车辆研究所博士研究生.2008年获得中南大学交通设备信息工程系学士学位.主要研究方向为自主平台的路径规划技术.E-mail:haojie.bit@gmail.com

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出版历程
- 收稿日期: 2012-07-27
- 修回日期: 2012-11-30
- 刊出日期: 2013-10-20

Research on Incremental Heuristic Path Planner with Variable Dimensional State Space

1.
Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
2.
China North Vehicle Research Institute, Beijing 100072

Funds:

Supported by National Natural Science Foundation of China (51275041, 90920304)

摘要

摘要: 在移动机器人路径规划中需要考虑运动几何约束,同时,由于它经常工作于动态、时变的环境中,因此,还必须保证路径规划算法的效率.本文提出了一种基于变维度状态空间的增量启发式路径规划方法,该方法既能满足移动机器人的运动几何约束,又能保证规划算法的效率.首先,设计了变维度状态空间, 在机器人周围的局部区域考虑运动几何约束组织高维状态空间,其他区域组织低维状态空间;然后,基于变维度状态空间,提出了一种增量启发式路径规划方法,该方法在新的规划进程中可以使用以前的规划结果,仅对机器人周围的局部区域进行重搜索,从而能保证算法的增量性及实时性;最后,通过仿真计算和机器人实验验证了算法的有效性.
- 变维度状态空间 /
- 运动几何约束 /
- 增量 /
- 启发式路径规划
Abstract: Path planning with kinodynamic constraints is often required for mobile robots. Meanwhile, the robot often operates in dynamic and time-varying environments, so the effectiveness of the planner should be guaranteed. In this paper we present an incremental heuristic path planner based on variable dimensional state space. The proposed planner not only considers the robot's kinodynamic constraints into planning, but also guarantees the effectiveness. First, the variable dimensional state space is designed. The high-dimensional state space is organized around the robot and the low-dimensional state space elsewhere. Then, an incremental heuristic path planner is proposed based on the variable dimensional state space. The incremental and anytime properties of the planner are guaranteed by reusing previous computation. Finally, the effectiveness of the planner is confirmed by simulation and robot experiments.
- Variable dimensional state space /
- kinodynamic constraints /
- incremental /
- heuristic path planning

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参考文献(13)

[1]	Likhachev M, Gorden G J, Thrun S. ARA: anytime A with provable bounds on sub-optimality. In: Proceedings of the 17th Annual Conference on Neural Information Proceeding Systems. New York, USA: IEEE, 2003
[2]	Bekris K E, Kavraki L E. Greedy but safe replanning under kinodynamic constraints. In: Proceedings of the 2007 IEEE International Conference on Robotics and Automation. New York, USA: IEEE, 2007. 704-710
[3]	Petti S, Fraichard T. Safe motion planning in dynamic environments. In: Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. New York, USA: IEEE, 2005. 2210-2215
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[9]	Zhang H J, Chen H Y, Jiang Y, Gong J W, Xiong G M. Variable dimensional state space based global path planning for mobile robot. Journal of Beijing Institute of Technology, 2012, 21(3): 328-335
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基于变维度状态空间的增量启发式路径规划方法研究

doi: 10.3724/SP.J.1004.2013.01602

作者简介:
张浩杰北京理工大学智能车辆研究所博士研究生.2008年获得中南大学交通设备信息工程系学士学位.主要研究方向为自主平台的路径规划技术.E-mail:haojie.bit@gmail.com

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Research on Incremental Heuristic Path Planner with Variable Dimensional State Space

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基于变维度状态空间的增量启发式路径规划方法研究

doi: 10.3724/SP.J.1004.2013.01602

作者简介: 张浩杰 北京理工大学智能车辆研究所博士研究生.2008年获得中南大学交通设备信息工程系学士学位.主要研究方向为自主平台的路径规划技术.E-mail:haojie.bit@gmail.com

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Research on Incremental Heuristic Path Planner with Variable Dimensional State Space

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出版历程

目录

作者简介:
张浩杰北京理工大学智能车辆研究所博士研究生.2008年获得中南大学交通设备信息工程系学士学位.主要研究方向为自主平台的路径规划技术.E-mail:haojie.bit@gmail.com