路径规划算法及其应用综述-张广林

*200072。。。。A*DijkstraTP39A1002－6886201105－0085－06SummaryofPathPlanningAlgorithmanditsApplicationZHANGGuanglinHUXiaomeiCHAIJianfeiZHAOLeiYUTaoAbstractPathplanningtechnologyisahotspotofmanyareaatpresent．Ithasbroadapplicationprospectsandscientificvalue．Andtheresearchofthepathplanningalgorithmisthecoreofit．Inthispaperthedomesticandforeignresearchofnowadayspathplanningalgorithmweresummarized．Andtheiradvantagesanddisadvantageswereanalyzedandcompared．Thenthehotproblemsthatappliedthesepathplanningalgorithmwereclassifiedandsummarized．andthealgorithmsthatappliedtotheseproblemswereana-lyzed．Atlastthefurtherresearchdirectionofpathplanningwasproposed．KeywordspathplanninggeneticalgorithmantcolonyalgorithmA*algorithmparticleswarmoptimizationdijkstraalgorithmAr-tificialpotentialfield012。、、。GPSGIS。VRP。。。3。。11.14－6。。。。。1.2、、、78。1。·58·、DOI:10.13667/j.cnki.52-1046/th.2011.05.014。2。。3。。。1.3。、、910。1、、、。111－13SimulatedAnnealingSA。、。、、、、。214－16。。、。317。、。。、。418TS。。2。C、、、voronoi。1C19、。C。。。220。。。3grid21－22。。4voronoi2324。voronoi。。3。、、、。12526AntColonyAlgorithmACA·68·20115。。、、、。227。。。。32829GeneticAlgorithmsGA。。。42730POS“”“”。、、、、。4。A*、Dijkstra、fallback、Floyd。1A*3132。。2Dijkstra3334。Dijkstra。3Fallback35DijkstraQoSQoSDijkstraQoSDijkstra。Dijkstra。4Floyd36。。DijkstraDijkstra。2、、、TSPVRP、、、GPS、。。2.1、。。。1、GPS、。137GPS38GISGeographicalInformationSys-tem。。235。·78·、。QoS。。。。Dijkstra、A*、、、、、Floyd、Fallback。2、TSPVRP。TSP。TSPTSP、TSPVRP。VRPVRP、VRP、VRP、VRP、VRP39。1。。。。、、。、、、、、。2.2、。17、、。。。40－43、、Voronoi、、、。A*、、、、。2。、、4。44－45、、、A*、、、。3、、、、46。。NeumanndeCarvalhoR47。48－50、A*、、、。3。。1。。A*A*·88·20115A*A*31。2。。51。3。。52CDijkstra33。4。。5354。4。。1．D．20072PeterStilesIraGlickstein．RoutePlanningC．IEEE1991420－4253．J．20061284－874．J．20092891－45．D．20096．J．2008322－247．．D．20098．D．20099．J．200523210－1310．J．20035152－15511．J．．2009．262118－12112RomeijnHESmithRL．SimulatedAnnealingforConstrainedGlobalOptimizationJ．JofGlobalOptimization199452101－12413ChenLNAiharaK．ChaoticSimulatedAnnealingbyaNeuralNetworkModelwithTransientChaosJ．NeuralNetworks199586915－93014OussamaKhatib．Real－timeObstacleAvoidanceforManipulatorsandMobileRobotsJ．InternationalJournalofRoboticsResearch1986590－9815BSicilianoLSciavicco．ASolutionAlgorithmtotheInverseKine-maticProblemforRedundantManipulatorsJ．IEEEJournalofRo-boticsandAutomation19984403－41016．J．20035568－57017．J．．20102146－14818HuangLinLaiJunfengHouJianetal．MulticastRoutingAlgorithmBasedonTabuSearchJ．JournalofDalianUniversityofTechnolo-gy20109801－80519．D．200520RABrooks．SolvingtheFind－pathProblembyGoodRepresenta-tionofFreeSpaceJ．IEEETransonSysManandCybern1983133190－19721．J．200522698－10022M．A．MansorA．S．Morris．PathPlanninginUnknownEnvironmentwithObstacleUsingVirtualWindowJ．JournalofIntelligentandRoboticSystems199524235－25123．VoronoiD．200824．VoronoiJ．200981115－112125．J．20091238－23926．D．200927．J．20071211－1428JTuSYang．GeneticAlgorithmBasedPathPlanningforaMobileRobotC．TaiwanProceedingsofIEEEIntelligentConferenceonRoboticsandAutomation20031221－1226·98·、29．J．20106115－11630．D．200931．A－StarJ．20087787－79232DieterFox．AProbabilisticApproachToCollaborativeRobotLocali-zationJ．AutonomousRobots20088325－34433．J．20091434－43534．DijkstraJ．2009167－6935．DijkstraQoSFallback+J．20031020－2236．FloydJ．2009310－1337．J．2010142－4338．D．200539．J．2008931－3340．D．200741WANGHong－jianXIONGWei．ResearchonGlobalPathPlanningBasedonAntColonyOptimizationforAUVJ．J．Marine．Sci．2009490－9842．J．20103397－40143．J．20102237－24044KhatibO．Real－timeObstacleAvoidanceforManipulatorsandMobileRobotsJ．TheInternationalJournalofRoboticsResearch19865190－9845LiuJinhuiPaulGader．NeuralNetworkswithEnhancedOutlierRejectionAbilityforOff－lineHandwrittenWordRecognitionJ．PatternRecognition200235102061－207146．J．200811355－35947NeumanndeCarvalhoRVidalHVieiraPetal．CompleteCoveragePlanningandGuidanceforCleaningRobotsC．ProceedingsoftheIEEEInternationSymposiumonIndustrialElectronicsGuimaraesPortugal19972677－68248．J．2009518－2049．J．200811355－35950．J．2007836－3851．HopfieldJ．2010151－5352．J．20103170－17453．D．201054．D．20045080508910DZ112610010DZ1140900Y0102。1988－。櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓櫓2011－3－157131Al2O3CaO·Al2O3、MgO·Al2O320μm。2Al2O3、CaO·Al2O3、MgO·Al2O3。TiN。1．J．．1980．15120－262．TiNJ．2000368801－8043．M．19834．J．2009441242－465．J．200627332－356．M．20057．M．19842009－1059。1963－。2011－6－15·09·20115