| 引用本文: | 高扬,孙树栋,赫东锋.基于粒子滤波的一种全局路径规划方法[J].控制理论与应用,2010,27(3):369~372.[点击复制] |
| GAO Yang,SUN Shu-dong,HE Dong-feng.A global path planning approach based on particle filter[J].Control Theory and Technology,2010,27(3):369~372.[点击复制] |
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| 基于粒子滤波的一种全局路径规划方法 |
| A global path planning approach based on particle filter |
| 摘要点击 2368 全文点击 1209 投稿时间：2008-10-24 修订日期：2009-04-26 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.3.CCTA081166 |
| 2010,27(3):369-372 |
| 中文关键词 路径规划 粒子滤波 样条曲线 机器人 |
| 英文关键词 path planning particle filter splines robot |
| 基金项目 西北工业大学研究生创业种子基金资助项目(200820); 国家“863”计划资助项目(2007AA04Z187). |
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| 中文摘要 |
| 提出一种基于粒子滤波的全局路径规划方法, 以多段Ferguson样条曲线表示路径确保所得路径光滑且一阶连续. 将最优路径视为真实状态, 将其他路径视为受噪声污染的状态, 从而将最优路径的搜索过程视为状态空间中对真实状态的滤波过程. 以粒子滤波算法依据路径评价函数对状态空间实施滤波获得最优路径, 仿真结果表明该方法实现简单、收敛迅速、且所得到路径光滑, 易于为机器人直接采用. |
| 英文摘要 |
| A global path planning approach is proposed for mobile robot based on particle filter. A string of Ferguson splines is used as a path description to ensure the smoothness of the path. With the best path treated as the true state, and
the others as states polluted by noise, the best path searching task is then transferred to a filter task. After that, the SIR Particle filter algorithm is employed to carry out the filter task; the global best path can then be acquired. The simulation results shows that the proposed algorithm have a rapid convergence and is capable of finding a smooth path. |
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