机器人避障模型设计与实证研究

Robot Obstacle Avoidance Model Design and Empirical Research

文中基于递归树探测思想,建立相应模型解决机器人自动寻路的问题。详细介绍了模型以及路径计算的设计思想和原理。模型中对机器人行走有一定具体要求,规定机器人的行走路径由直线和圆弧组成,也可以由两个或多个相切的圆弧路径组成,但要求每个圆弧的半径最小为r单位。根据模型利用给定地图让机器人从起点绕过重重障碍到达目标点进行实证研究。该模型可以用于辅助电子地图的搜索,具有一定的实用价值。

In this paper,based on a recursive tree probing ideas,and establish a corresponding model to solve the problem of robot automatically find its way.Details of the model as well as the path calculated design ideas and principles.Model walking robot has certain specific requirements,requiring the traveling path of the robot is composed by straight lines and arcs,and may be made of two or more tangent to the circular path,but requires that the minimum radius of each arc is r units.The robot from the starting point to bypass the obstacles to reach the target point for empirical research model uses a given map.The model can be used for the auxiliary electronic map search,has a certain practical value.