基于最优化的机器人避障路径规划的研究

Study on Obstacle Avoidance Path Planning for Robots Based on Optimization

文中研究了在具有障碍物的环境中,寻找一条从起始点到目标点位置最优的避障路径.利用Floyed算法的思想,简化模型,由局部到整体,建立最优化模型进行求解,合理有效的得出在最短路径长度下及最短行进时间下的最优避障路径.

This article mainly studied in obstacle environment, searching for an optimal obstacle avoidance path from starting point to the target point location. Using Floyed algorithm, simplifying model, from the local to overall, the optimization model is established for solving, reasonable and effective obtaining the optimal path for obstacle avoidance in the shortest path length and the shortest travel time.