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[15]ZHANG Hongmei,LI Minglong.Rapid path planning al- [22]张兆宁，魏中慧.危险天气下基于多重Morphin算法的 gorithm for mobile robot in dynamic environment[J].Ad- 终端区三维实时改航方法)南京航空航天大学学报， vances in mechanical engineering,2017,9(12):1-12. 2015,47(4:467-473 [16]王红卫，马勇，谢勇，等.基于平滑A*算法的移动机器 ZHANG Zhaoning,WEI Zhonghui.3-D real-time devi- 人路径规划[].同济大学学报（自然科学版），2010， ation method for avoiding hazardous weather in terminal 38(11):1647-1650. airspace based on Morphin planning algorithm[J.Journ- WANG Hongwei,MA Yong,XIE Yong,et al.Mobile ro- al of Nanjing University of Aeronautics and Astronautics, bot optimal path planning based on smoothing A*al- 2015,47(4):467-473 gorithm[J].Journal of Tongji University (Natural Science),2010,38(11):1647-1650. 作者简介： [17]SIMMONS R,KROTKOV E,CHRISMAN L,et al.Ex- 成怡，副教授，博士，主要研究方 perience with rover navigation for lunar-like terrains 向为视觉导航技术、智能算法优化、控 [C]//Proceedings of 1995 IEEE/RSJ International Confer- 制系统建模。主持及参与国家、省部 级科研项目5项，获2013年天津优秀 ence on Intelligent Robots and Systems.Human Robot In- 青年教师资助计划。发表学术论文 teraction and Cooperative Robots.Pittsburgh,USA,1995: 30余篇。 441-446. [18]张飞，白伟，乔耀华，等.基于改进D*算法的无人机室 内路径规划[智能系统学报，2019,14(4)：662-669， 肖宏图，硕士研究生，主要研究方 ZHANG Fei,BAI Wei,QIAO Yaohua,et al.UAV in- 向为路径规划算法、移动机器人。 door path planning based on improved D*algorithm[J]. CAAI transactions on intelligent systems,2019,14(4): 662-669. [19]BELGHITH K,KABANZA F,HARTMAN L.Random-in 算法的机器人路径规划方法 [J]. 科技导报, 2015, 33(3): 84–89. WAN Xiaofeng, HU Wei, ZHENG Bojia, et al. Robot path planning method based on improved ant colony al￾gorithm and Morphin algorithm[J]. Science & technology review, 2015, 33(3): 84–89. 秦玉鑫, 王红旗, 杜翠杰. 基于双层 A*算法的移动机器 人路径规划 [J]. 制造业自动化, 2014, 36(24): 21–25, 40. QIN Yuxin, WANG Hongqi, DU Cuijie. A path planning approach to moving robot based on double layer A* Al￾gorithm[J]. Manufacturing automation, 2014, 36(24): 21–25, 40. [13] XU Yaru, LIU Rong. Path planning for mobile articu￾lated robots based on the improved A* algorithm[J]. Inter￾national journal of advanced robotic systems, 2017, 14(4): 1–10. [14] ZHANG Hongmei, LI Minglong. Rapid path planning al￾gorithm for mobile robot in dynamic environment[J]. Ad￾vances in mechanical engineering, 2017, 9(12): 1–12. [15] 王红卫, 马勇, 谢勇, 等. 基于平滑 A*算法的移动机器 人路径规划 [J]. 同济大学学报 (自然科学版), 2010, 38(11): 1647–1650. WANG Hongwei, MA Yong, XIE Yong, et al. Mobile ro￾bot optimal path planning based on smoothing A* al￾gorithm[J]. Journal of Tongji University (Natural Science), 2010, 38(11): 1647–1650. [16] SIMMONS R, KROTKOV E, CHRISMAN L, et al. Ex￾perience with rover navigation for lunar-like terrains [C]//Proceedings of 1995 IEEE/RSJ International Confer￾ence on Intelligent Robots and Systems. Human Robot In￾teraction and Cooperative Robots. Pittsburgh, USA, 1995: 441–446. [17] 张飞, 白伟, 乔耀华, 等. 基于改进 D*算法的无人机室 内路径规划 [J]. 智能系统学报, 2019, 14(4): 662–669. ZHANG Fei, BAI Wei, QIAO Yaohua, et al. UAV in￾door path planning based on improved D* algorithm[J]. CAAI transactions on intelligent systems, 2019, 14(4): 662–669. [18] [19] BELGHITH K, KABANZA F, HARTMAN L. Random￾ized path planning with preferences in highly complex dy￾namic environments[J]. Robotica, 2013, 31(8): 1195–1208. 诸葛程晨, 唐振民, 石朝侠. 基于多层 Morphin 搜索树 的 UGV 局部路径规划算法 [J]. 机器人, 2014, 36(4): 491–497. ZHUGE Chengchen, TANG Zhenmin, SHI Zhaoxia. A local path planning algorithm for UGV based on multilay￾er Morphin search tree[J]. Robot, 2014, 36(4): 491–497. [20] 曹清云, 倪建军, 王康, 等. 一种改进的未知动态环境下 机器人混合路径规划方法 [J]. 计算机与现代化, 2016(4): 54–58. CAO Qingyun, NI Jianjun, WANG Kang, et al. A robot hybrid path planning algorithm under improved unknown and dynamic environment[J]. Computer and moderniza￾tion, 2016(4): 54–58. [21] 张兆宁, 魏中慧. 危险天气下基于多重 Morphin 算法的 终端区三维实时改航方法 [J]. 南京航空航天大学学报, 2015, 47(4): 467–473. ZHANG Zhaoning, WEI Zhonghui. 3-D real-time devi￾ation method for avoiding hazardous weather in terminal airspace based on Morphin planning algorithm[J]. Journ￾al of Nanjing University of Aeronautics and Astronautics, 2015, 47(4): 467–473. [22] 作者简介： 成怡，副教授，博士，主要研究方 向为视觉导航技术、智能算法优化、控 制系统建模。主持及参与国家、省部 级科研项目 5 项，获 2013 年天津优秀 青年教师资助计划。发表学术论文 30 余篇。 肖宏图，硕士研究生，主要研究方 向为路径规划算法、移动机器人。 ·552· 智 能 系 统 学 报 第 15 卷