基于环境拓扑学特征的二维点机器人路径规划

PATH PLANNING FOR TWO DIMENSIONAL POINT ROBOT USING ENVIRONMENT TOPOLOGY

本文讨论了二维未知环境下的移动式机器人回避障碍路径规划问题.文中提出了一个基于障碍物边界拓扑学性质的规划算法,而且讨论了算法的收敛性和目标位置的可到达性.与已有算法相比该算法具有一些优点.最后,仿真结果验证了该算法的有效性.

The problem of collision-free path planning is studied for the case of mobile robot moving in the two dimensional uncertain environment. An algorithm is proposed based on the obstacle topology. The convergence and target reachability of the algorithm are explained. Advantages of the algorithm are shown as compared with a number of existing algorithms. Finally, simulation results show the effectiveness of the proposed algorithm.