Robot path planning in globally unknown environments based on rolling windows

被引：7

作者：

Zhang Chungang

Xi Yugeng

机构：

[1] Shanghai Jiaotong University,Institute of Automation

来源：

Science in China Series E: Technolgical Science | 2001年 / 44卷 / 2期

关键词：

robot path planning; rolling planning; convergence; predictive control;

D O I：

10.1007/BF03014623

中图分类号：

学科分类号：

摘要：

In this paper, robot path planning in globally unknown environments is studied. Using the rolling optimization concept in predictive control for reference, a new strategy of path planning for a mobile robot, based on rolling windows, is proposed. The method makes full use of the real-time local environmental information detected by the robot and the on-line path planning is carried on in a rolling style. Optimization and feedback are combined in a reasonable way. The convergence of the planning algorithm is also discussed.

引用

页码：131 / 139

页数：8

共 11 条

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