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针对栅格法建模的不足,本文研究了一种基于栅格的机器人路径规划调节方法。该方法首先用栅格法建立机器人运动空间模型,在此基础上利用局部规划方法进行搜索得到全局导航路径,然后用微粒群算法局部垂直和水平调节导航路径上的路径点,得到更优路径。计算机仿真实验表明,利用本方法可以规划出一条全局优化路径,且能安全避障。
In order to overcome the shortcomings of grid modeling, this paper studies a grid-based robot path planning and adjustment method. In this method, a gridding method is used to establish a model of robot motion space. Based on this, local search is used to search for global navigation paths. Particle swarm optimization is then used to locally and vertically adjust the path points on the navigation path to obtain a better path. Computer simulation experiments show that this method can be used to plan a global optimization path, and can be safely avoided.