摘要
避障路径规划问题是在障碍物环境中,在满足与障碍物不相碰撞的前提条件下,规划一条从起点到达终点的路径。在此过程中,往往符合条件的路径不止一条,如何在其中找到最短路径则是我们关心的问题。本文以构建障碍物模型为基础,将路径规划问题转化为求解一条经过起点和终点的最短路径,并在此基础上构建了算法程序。通过计算机仿真表明该方法具备良好的路径规划能力。
Avoidance obstacle path planning problem is that in obstacle environment,from start point to destination point,research a collision free path. This kind of path maybe plenty,but this paper focuses to find the shortest length of path. A program for search-ing the shortest length of path is presented.Computer simulation experiment shows that,the method has good path planning ability.
出处
《微计算机信息》
北大核心
2008年第5期212-213,共2页
Control & Automation
关键词
路径规划
机器人
避障
path planning
robots
avoidance obstacle
