| 机器人路径规划的凸点法 |
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| 引用本文： | 陈阳,吴裕树,史万明. 机器人路径规划的凸点法[J]. 北京理工大学学报, 1995, 0(5) |
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| 作者姓名： | 陈阳 吴裕树 史万明 |
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| 作者单位： | 北京理工大学计算机科学与工程系 |
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| 摘 要： | 在具有障碍物的凸多边形或凹多边形的二维环境中，用不断搜索凸点的方法规划任意两点间的无碰路径，与其他方法相比，其规划速度快，优化后的路径质量较好．
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| 关 键 词： | 优化；机器人／凸点法；顶点的凹凸性；扩边；削角；自并与互并 |
A Convex Point Method for Path Planning in Robotics |
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| Chen Yang,Wu Yushu,Shi Wanming. A Convex Point Method for Path Planning in Robotics[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 1995, 0(5) |
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| Authors: | Chen Yang Wu Yushu Shi Wanming |
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| Abstract: | As an approach to the path planning problem for exploring collision-free paths in a 2-dimensional spare, the convex point method, is discussed. The method of searcing continually for convex points is aimed at in the solution of collision-free path planning problms in an environment Where obstacles are simplified into convex or concave polygons. It has a higher speed of path planning and higher quality of optimization path than the othermethods. |
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| Keywords: | optimization robots/convex point method concave-convexity of vertices expansion edge cutting angle self-merge and mutual merge |
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