基于线圆结构和LINGO的机器人避障路径选择

Obstacle-avoidance Path Selection by Robot Based on Line-round Structure and Lingo

静态环境下机器人行走全局规划路径是机器人行走路径的核心问题。针对机器人在平面区域内绕过不同障碍到达目标点的最短路径和最短时间路径进行研究,通过线圆结构和非线性规划基本模型,建立绕单和多(五)个障碍点非线性规划模型,使用lingo软件和穷举法,得到了机器人避障最短路径、最短时间路径、各切点坐标和所需时间。

Robot global path planning in a static environment is a core problem of robot walking path. The shortest path and time for plane ob- stacle-avoidance is explored by a robot approaching its goal through lingo software and exhaustive method upon a single-or muhiple-obstacled nonlinear programming model of line-round structure, which results in the shortest obstacle avoidance time, time path, and the coordinates and duration at each tangent point for robot＇s obstacle.