基于分形模型的多维空间降维研究

Multidimensional Space Dimension Reduction Research Based on the Fractal Model

在移动机器人的路径规划中,通常把现实中的三维空间以及多自由度的移动机器人,直接压缩在二维平面以降低算法的复杂性。栅格法是应用最广泛的方法,在划分栅格时障碍栅格位置和数量以及多自由度机器人步长的判断依据是非常重要的。拟采用分形算法,将机器人的工作空间以及多自由度的机器人本身,转换为二维平面,并以此作为空间中栅格划分和机器人步长判定的依据。从而保证了在二维平面所得到的机器人规划路径,在空间中仍是无碰撞的路径。

In the mobile robot path planning,usually the reality of three dimensional space and multiple degree freedom of mobile robot,are directly compressed in 2D plane in order to reduce the complexity of the algorithm.Grid algorithm is one of the most widely applied algorithm,and it is very important to decide what is obstacles grid’s position and number judge basis,and what is the more freedom robot step length judge basis.Using fractal algorithm,the robot’s workspace,as well as the robot itself that has multiple degrees of freedom,are converted to a two-dimensional plane,which are used as a basis for determining space grid division and robot step length.It ensures the robot path planning in 2D pane,and is still without collision path in the space.