1、 21 201 3 T P242 A 1 001-38 8 1 2006 3 -005 -4 R e s e a r c h P r o g r e s s a n d F u t u r e D e v e l o p m e n t o n P a t h P l a n n i n g f o r R o b o t ZH U M i n g h u a W ANG Xi a o CAI La n M e c h a n i c a l En g i n e e r i n g In s t i t u t e Ji a n g s u Un i v e r s i t y Zh e n
2、 j i a n g Ji a n g s u 21 201 3 Ch i n a A b s t r a c t T h e r e s e a r c h o f r o b o t p a t h p l a n n i n g w a s s u m m a r i z e d t h e r e s e a r c h s t a t u s g u o c h a r a c t e r i s t i c a n d m a i n p r o d u c t i o n o f r o b o t g l o b a l p a t h p l a n n i n g m e
3、t h o d l o c a l p a t h p l a n n i n g m e t h o d a n d h y b r i d m e t h o d w e r e e x p a t i a t e d i t s d e v e l o p m e n t d i r e c t i o n s a n d s t u d y f o c u s w e r e p o i n t e d o u t . K e y w o r d s Ro b o t G e n e t i c a l g o r i t h m s Pa t h p l a n n i n g Ro
4、 u g h s e t 1 !“ G l o b a l Pa t h Pl a n n i n g 1 .1 F r e e Sp a c e Ap p r o a c h 2 3 1 .2 4 D i j k s t r a 5 A 6 1 .2.1 V - G r a p h 1 .2.2 Op t i m i z a t i o n Al g o r i t h m 1 .3 G r i d s 7 1 X 5 2006.No .3 Y ! “ 2 1 2 !“ Local Path Planning 2. 1 Artificial Potential Field 8 Khatib
5、Krogh Khatib Krogh Generalized Field # $ =# Dead Lock 9 2. 2 Genetic Algorithms 10 Kazuo Sugihara and John Smith 11 12 13 2. 3 Fuzzy Logic Algorithm Hartmust Surmann 14 15 16 2. 4 Artificial Neural Network 17 18 ! 2006. No. 3 19 20 ART- 22 21 H o p f i e l d AN N !“ H y b r i d M e t h o d 22 23 L.H.Ts o u k a l a s 24 25 26 Vi s u a l Ba s i c 27 28 #“ 29- 31 20 80
