无约束运动体多目标路径规划
首发时间:2009-06-11
摘要:本文通过对板球系统实验平台中无约束运动体多目标路径规划问题的研究,提出了一种基于熵权理论与Djikstra算法相结合的多目标路径规划方法。本文从无约束运动体运动不确定性特点出发,给出了考虑路径长度,碰到障碍物等因素的路径规划方法。通过仿真结果证明了方法能够较好的满足板球系统无约束运动体路径规划的要求。
For information in English, please click here
On Multi-Objective Path Planning of Unconstrained Mobile
Abstract:Problem of multi-objective path planning is investigated in this paper for the underactuated ball and plate system. The purpose of multi-objective path planning is to obtain the safe and shortest path for the ball to track. Workspace is represented by distance map and hazard map. Weights for multi-objectives are calculated by entropy method for each grid node. Dijkstra algorithm is employed to solve the multi-objective path planning problem finally. As illustrated by simulation results, the path obtained by multi-objective method proposed in this paper is much safer compared with single-objective A* algorithm.
Keywords: Ball and Plate System Multi-Objective Decision Path Planning Entropy Method
论文图表:
引用
No.3305548031512446****
同行评议
共计0人参与
勘误表
无约束运动体多目标路径规划
评论
全部评论0/1000