基于二叉决策的机器人路径规划研究

The research of the robot path planning based on binary decision

深入分析与研究了机器人路径规划问题的本质与难点,引入二叉决策理论提出了一种机器人路径规划算法。建立了机器人运动模型和周围环境模型的描述,在此基础上,利用二叉决策理论,提出了机器人路径规划的总体框架,给出了算法流程,定义了GINI系数的计算函数,该算法很好地解决了障碍物规避问题。

Has thoroughly analyzed and studied the essence and the difficulty of robot path planning question, propose one kind of robot path planning algorithm based on binary decision theory. Has established the robot movement model and the environment model description, in this foundation, uses the binary decision theory, proposed the robot path planning overall frame, has produced the algorithm flow, has defined the GINI coefficient computation function, this algorithm solved the obstacle to dodge the question well.