基于SAT的路径规划系统的设计

Design of path planning system based on SAT

本文主要介绍了基于SAT路径规划算法以及路径规划系统的设计方案。通过移动机器人抓取积木为例,介绍了基于SAT路径规划算法包括的规划问题的命题表示方法以及如何使用SAT求解器对规划命题进行求解。该系统较传统的路径规划系统而言,路径规划解提取速度较快,无需传感器的反复检测初始状态及目标状态,规划效率较高。

This paper describes SAT path planning algorithm and the design path planning system. By example of mobile robot crawl Blocks describes SAT path planning algorithm,including proposition representation of planning issues and how to use the SAT solver to solve the planning propositions. The system is compared with the traditional path planning system,extraction path planning solutions faster, efficiency of plan more higher.