| 基于冲突检查模型的机器人避障的最优路径 |
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| 引用本文： | 何改平.基于冲突检查模型的机器人避障的最优路径[J].西安工程科技学院学报,2014(3):311-315. |
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| 作者姓名： | 何改平 |
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| 作者单位： | 西安外事学院工学院;西安电子科技大学数学与统计学院; |
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| 摘 要： | 通过建立冲突检查模型，研究机器人从区域中一点到另一点的避障最优路径问题。以机器人由出发点到达目标点和由出发点经过途中的若干目标点到达最终目标点两种情形进行分析，通过冲突检查模型得到机器人在限定区域中行走的可能路径，并对其进一步优化，结合MATA-L AB仿真计算工具，实例计算得到了机器人最优移动路径及时间。
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| 关 键 词： | 最优路径 冲突检查 线圆结构 解析几何 最优化模型 |
The optimal path for robot obstacle avoidance based on examining conflict checking model |
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| HE Gai-ping.The optimal path for robot obstacle avoidance based on examining conflict checking model[J].Journal of Xi an University of Engineering Science and Technology,2014(3):311-315. |
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| Authors: | HE Gai-ping |
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| Institution: | HE Gai-ping ( 1. School of Xi＇an International Technology, Xi＇an University,Xi＇an 710077,China ; 2. School of Mathematics and Statistics, Xidian University, Xi＇an 710071, China) |
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| Abstract: | The confilct checking model is built to study the optimal path for robot obstacle avoidance from one point to another .The two cases are analyzed through robot mobile path from starting point to the end and also from starting point with several obstacles to the destination .The possible path in a restrict-ed area can be obtained by examining conflict checking model .Through further improvement ,the optimal mobile path and time can be calculated by means of MATLAB simulation and calculating tool . |
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| Keywords: | optimal path conflict checking line circle structure analytic geometry optimal model |
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