摘要
路径规划的目标是根据具体任务为机器人寻找一条最优无碰撞路径,其主要内容包括:运动建模,环境建模和路径搜索。对机器人的运动模型进行分析,基于Voronoi理论,采用近似构造法,构造一般环境的Voronoi图,通过将移动机器人起始点和目标点连入Voronoi图,形成移动机器人运动的无碰撞路径网络。利用Dijkstra算法,寻找一条从起点到终点的最短路径。仿真结果表明,该方法简单、有效。
The target of path planning is to finding an optimal non-collision path according to task. Its main content is movement modeling, environment modeling and path searching. Analyze the movement model of mobile robot. The method of Voronoi diagrams for general figures by approximation structuring is utilized and the origin and terminal are joined into it to construct the non-collision road map. Dijkstra algorithm is applied to search the shortest path between origin and terminal. Simulation results demonstrate that the method is simple and effective.
出处
《兵工自动化》
2009年第12期60-63,共4页
Ordnance Industry Automation
