机器人避障问题的分析与计算

本文针对机器人从区域中一点O到达另一点B的避障最短路径问题展开了设计、计算和分析.根据出发点、目标点以及障碍物的位置关系,设计出了从O→B可能的路径,其中转弯处圆弧的半径均采用最小转弯半径的形式,即半径为10个单位,圆心为所避障碍物的某一顶点,其他处用直线行走.利用解析几何的方法,通过Maple软件数值计算,求出每条路径的长度.经过分析比较得出最短路径以及最短路径的长度.

Analysis and Calculation of Robot Avoiding Obstacles Problem

The shortest path problem which robot avoids obstacles from the point O to B in the area is de- signed, calculated and analyzed. According to the positional relationship among the starting point, the target point and the obstacles, possible paths from O to B are designed. Arc radius of the corner use the form of a mini- mum turning radius that radius is 10 units, the center is vertex of avoiding obstacles, other places use straight lines. The length of each path is calculated by numerical calculation of Maple software and using analytic geome- try method. The shortest path and the length of the shortest path are obtained after analysis and comparison.