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	An optimal algorithm of 3D path planning for mobile robots
	Yu Jian-li ; Cheng Si-ya ; Sun Zeng-qi ; Kroumov, V.
	2010-10-12 ; 2010-10-12
关键词	Practical/ mobile robots neural nets path planning simulated annealing stereo image processing/ optimal algorithm 3D path planning mobile robots global path planning moving robot 3D environment energy function neural networks simulated anneal temperatures path generating equations path points/ C3390C Mobile robots C5260B Computer vision and image processing techniques C5290 Neural computing techniques C1180 Optimisation techniques
中文摘要	Global path planning was studied for a moving robot in a 3D environment filled with obstacles whose shapes and positions were known. An aggressive algorithm for path planning was presented. The obstacles were described by an energy function defined using neural networks. Different initial simulated anneal temperatures of each surface of objects can be set according to the shape of them. The different path generating equations were used, depending on the path points inside or outside the obstacles, which allows high speed of the calculations and fast convergence The simulation results show that the computation is simple, some local minimum problems can be avoided, and the constructed path is optimal and piecewise linear.
语种	中文
出版者	Central South University of Technology ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/82879]
专题	清华大学
推荐引用方式 GB/T 7714	Yu Jian-li,Cheng Si-ya,Sun Zeng-qi,et al. An optimal algorithm of 3D path planning for mobile robots[J],2010, 2010.
APA	Yu Jian-li,Cheng Si-ya,Sun Zeng-qi,&Kroumov, V..(2010).An optimal algorithm of 3D path planning for mobile robots..
MLA	Yu Jian-li,et al."An optimal algorithm of 3D path planning for mobile robots".(2010).

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