机器人避障路径的规划模型

Programmed Model of Obstacle Avoidance Path for Robots

在存在障碍物的平面场景中,规划机器人由出发点到达目标点的最短路径和最短时间路径,可大大提高机器人的工作效率。机器人通过障碍物区域的部分边界,在线圆相切的情形下,建立机器人避障的最短路径和最短时间路径的规划模型,并采用Mathematcia7.0数学软件可得到机器人避障问题的最优解。

In the two-dimension scene, the shortest path and the shortest time path from the starting point to the target for the robot is programmed, which can greatly improve the working efficiency of the robot. When the robot passes a part of the obstacle area, in the case of the line being tangent to the circle, the shortest path and the shortest time path through which the robot avoids the obstacle are built. By applying the teaching software of MathematciaT.0, the best solution for the robot to avoid the obstacle is obtained.