机器人无碰撞平滑路径规划

Shooth Collision-Free Path Planning for Manipulators and Mobile Robots

本文提出了一种新的机器人平滑路径算法，综合地考虑折线生成和样条拟合问题，给障碍物加一个安全扰动，利用有理二次参数样条曲线生成一条切矢、曲率矢均连续，且安全的路径．在理论上和一些实际情形，该平滑路径在满足不与障碍物相交的前提下，与折线的平方误差次优。

This paper presents algorithm of planning, a smooth collision-free-path for manipulators and mobile robots. It considers synthetically the piecewise li- near path finding along with the spline approximating, .and adds a uniform' sa- fety margin'around the obstacle. By using the rational quadratic parametric func- tion. a smooth collision-free path is planned for the robots. in theory as well as in some practical cases. The approximation error is near-least.