[1]王东曙,朱训林.未知环境中考虑姿态稳定性的自主机器人路径规划[J].郑州大学学报(工学版),2014,35(05):31-35.[doi:10.3969/i.issn.1671-6833.2014.05.008]
　WANG Dongshu,ZHU Xunlin.Path Planning of Autonomous Robot Considering Attitude Stability in Unknown Environment[J].Journal of Zhengzhou University (Engineering Science),2014,35(05):31-35.[doi:10.3969/i.issn.1671-6833.2014.05.008]
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未知环境中考虑姿态稳定性的自主机器人路径规划()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
35
期数:
2014年05期
页码:
31-35
栏目:
出版日期:
2014-09-30

文章信息/Info

Title:
Path Planning of Autonomous Robot Considering Attitude Stability in Unknown Environment
作者:
王东曙; 朱训林
Author(s):
WANG Dongshu; ZHU Xunlin
1. School of Eleetrie Engineering, Zhengzhou [niversity, 2hengzhou 450001 , China; 2. Department of Mathematies, Zhengzhou University,Zhengzhou 450001,China
Keywords:
autonomous robot;  path planning;  energy consumed;  digital height map;  digital gradient map; atlitude stability
分类号:
TP242
DOI:
10.3969/i.issn.1671-6833.2014.05.008
文献标志码:
A
Abstract:
Suitable path planning is precondition of autonomous robot exploration in unknown complex environ.ments. Traditional path planning methods focus partieularly on planning an un-eolliding path from the start po.sition to the goal and robot attitude stability is selom considered. A new path planning approach consideringrobot’s attitude stability and energy consumed in outdoor complex environment is proposed, which consists olthree steps; (1) gradient caleulation , gradients of the rough terrain are ealeulated: (2) node deteetion, terrain is divided into llat regions and rough regions aeeording to height threshold; central position of each lat re-gion is reeognized as the node; (3) path evaluation, the oplimal path from current position to destinationthrough intermediate nodes is planned based on the cost evaluation funelion. Compared with the conventionalapproach, the effectiveness of the proposed method is demonstrated through simulations.
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