机器人避障行走时间的最优值解

Optimal Solution of Robot Obstacle Avoidance Walking Time

主要研究在一个区域中存在十二个障碍物,机器人由出发点到达目标点的最短时间问题。对于途中经过障碍物到达目标点的状况,采用了两种方案,一种是在拐点和节点处均采用最小转弯半径的形式,另一种是紧贴近障碍物建立模型,使得机器人能够以最短时间通过途中障碍物到达最终的目标点。然后建立了最优化模型利用lingo软件进行求解。

In this paper, we mainly robot arrives at the target point from through the obstacle on the way,One and the other is to establish a model in the shortest possible time passing and solved by lingo software. study the shortest time problem of twelve obstacles in a region, where the the starting point.There are two plans for reaching the target point passing is to use the minimum turning radius at the inflection point and the node, close to the obstacle, which enables the robot to reach the final target point through the obstacles on the way.Then the optimization model is established