基于冲突检查模型的机器人避障的最优路径

The optimal path for robot obstacle avoidance based on examining conflict checking model

通过建立冲突检查模型,研究机器人从区域中一点到另一点的避障最优路径问题.以机器人由出发点到达目标点和由出发点经过途中的若干目标点到达最终目标点两种情形进行分析,通过冲突检查模型得到机器人在限定区域中行走的可能路径,并对其进一步优化,结合MATALAB仿真计算工具,实例计算得到了机器人最优移动路径及时间.

The confilct checking model is built to study the optimal path for robot obstacle avoidance from one point to another .The two cases are analyzed through robot mobile path from starting point to the end and also from starting point with several obstacles to the destination .The possible path in a restrict-ed area can be obtained by examining conflict checking model .Through further improvement ,the optimal mobile path and time can be calculated by means of MATLAB simulation and calculating tool .