移动机器人改进Dijkstra算法下路径规划及可视化研究

来源 :徐州工程学院学报：自然科学版 | 被引量 : 0次 | 上传用户：pigho

【摘要】

：

在移动机器人的路径规划研究中,避障策略和规划路径距离最短是核心问题.凸包障碍模型策略实现移动机器人的路径规划中不规则障碍物的规整化.针对凸包障碍模型对象,提出了改进Dijkstra算法求解移动机器人路径规划中避障下的距离最短轨迹.为了验证算法的有效性,构建移动机器人作业虚拟场景,利用虚拟现实技术中通用Unity3D引擎平台,设计可视化仿真系统;在背投式虚拟现实系统的实验装置中,沉浸式漫游改进Dijkstra算法求解所得到移动机器人路径规划数据结果的3D立体可视化效果.

【作者】

：

贾文友魏文涛朱良恒梁利东

【机构】

：

安徽工程大学机械工程学院,安徽工程大学人机自然交互和高效协同技术研究中心

【出处】

：

徐州工程学院学报：自然科学版

【发表日期】

：

2021年2期

【关键词】

：

凸包障碍模型改进DIJKSTRA算法虚拟现实可视化

【基金项目】

：

安徽高校省级科学研究项目(KJ2016A057,KJ2018A0102)。

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移动机器人改进Dijkstra算法下路径规划及可视化研究

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