基于數(shù)字高程模型柵格地圖的移動(dòng)機(jī)器人路徑規(guī)劃研究.pdf

1、浙江大學(xué)碩士學(xué)位論文基于數(shù)字高程模型柵格地圖的移動(dòng)機(jī)器人路徑規(guī)劃研究姓名：馬麗莎申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：信息與通信工程指導(dǎo)教師：劉濟(jì)林20120309浙江大學(xué)碩士學(xué)位論文AbstractAbstractMobilerobotnavigationisthekeytechnologyofthestudyofmobilerobotsPathPlanningisallimportantelementofmobilerobotsnavigatio

2、nwhichprovidestheinformationofrobotstothemotioncontrolduringmovingThetaskofpathplanningcanbedescribedasfollows：FindacollisionfreepathintheenvironmentwhichhasbarriersaccordingtogivenevaluationstandardThispaperresearchesde

3、eplythepathplanningtechnologyformobilerobotsinthecomplexenvironmentThefollowingaspectsareinvestigatedanddiscussed：1)AtraversabilityanalysismethodbasedonDigitalElevationModel鰣dispresentedAndtheresultsoftheanalysisareclass

4、ifiedtogenerateacostmapWiththeextractedbasicterraininformationbasedonDigitalElevationModelofenvironment，traversabilityoftheterrainisanalyzed，comprehensivelyconsideringthefactorssuchasmechanicalpropertiesandkinematicconst

5、raintsofmobilerobotsThengetthefinalcostmapaccordingtotheclassifiedterrainfeatures2)AimedatsomeproblemscausedbythetraditionalpathplanningalgorithmswhentheyareusedinthecomplexenvironmentAmotionconstrainedgeneralizedFieldD宰

6、algorithmisproposedInthisalgorithm，thecostfunctionisdesignedtotakeintoaccountoneorseveralofthenavigationcosts，includingdistance，safetyandtimecostMoreover，theplannedpathisfurthersmoothedregardingtotheconstraintofminimumtu

7、rningradiusforarobotThesmoothedpathisthereforeeasierfortherobottofollowAgroupofsimulatedgridmapsdescribingcomplexenvironmentshavebeentestedTheexperimentsshowthattheproposedalgorithmnotonlyfitscomplicatedenvironmentsbutal

8、soimprovestheperformabilityoftheresults3)Onthebasisoftheanalysisoftheadvantagesanddisadvantagesofcurrentglobalandlocalpathplanningalgorithms，ahierarchicalpathplanningapproachisgivenThisapproachcombinesthetypicallocalobst