权值自适应的局部路径规划方法及应用

移动机器人在工业生产和社会生活中逐步得到应用。路径规划是移动机器人完成其任务的前提和基础，也是机器人导航的核心技术。针对移动机器人在现有局部路径规划中无法自适应复杂环境、规划路径不合理等问题，提出基于权值自适应的局部路径规划方法。利用传感器信息自动获取合理的目标函数权值，实现具有较高实时性、安全性和鲁棒性的局部路径规划。实验结果表明，改进的动态窗口法能有效自适应复杂环境，规划的路径安全、合理、平滑，算法效率明显提升，计算量和迭代次数明显减少，总运行时间缩短20%以上。

Weight Adaptive Local Path Planning Method and Its Application

The mobile robots are widely used in industry production and social life. Patch planning of mobile robot is the premise and basis to complete its tasks， and the key technology of robot navigation. According to the existing problems of local path planning， such as the inability of adaptive environment and the unreasonable planned path， a local path planning with self-adaptive weight is proposed. The reasonable speed weight in objective function is adaptively obtained based on sensor information to achieve local patch planning with high real-time， security and robustness. The experiments show that the improved dynamic window method can effectively adapt to complex environment and the planned path is reasonable， smooth and safe. The computational loads and the number of iterations of the algorithm are significantly reduced. The total running time is reduced by more than 20%.