基于线圆结构的机器人避障问题路径规划

Path Planning of Robot Obstacle Avoidance Problem Based on Line Circle Structure

针对机器人避障问题,给出了基于线圆结构的最优路径规划模型,同时给出了相应的MATLAB函数;结合题目所给的数据,通过运行MATLAB程序得到了数值结果;建立了只绕过一个障碍物的最短时间路径规划模型,并给出了MATLAB程序;提出了进一步研究的方向。

Aiming at the obstacle avoidance problem of robot,this paper proposes the optimal path planning model based on line circle structure and gives the corresponding MATLAB function.Combined with the data given by the topic,the numerical results are obtained by running the MATLAB program.Then,the shortest time path planning model which only bypasses one obstacle is established,and the MATLAB program is given.Finally,the direction of further research is proposed.