基于凸优化的移动机器人避障路径规划

该文提出一种基于凸优化的移动机器人避障路径规划方案,机器人在复杂环境中进行路径规划和任务动作规划是确保机器人避免与障碍物发生碰撞的关键。路径规划的目标是找到一条从初始状态到最终状态的可行路径,而避免与任何障碍物发生碰撞,目前的规划方案存在路径不是最优或者可能出现碰撞的情况。该文的创新点在于提供基于凸优化的导航空间划分方法,并根据多障碍物环境构建可行的走廊,从而得到一条具有避障保证的路径。该文的算法可用于任何有障碍物的有限维空间,提供一种通用的路径生成技术,为机器人路径规划技术的发展起到积极作用。

This paper presents a convex optimization-based obstacle avoidance path planning solution for mobile robots.The path planning and task action planning of mobile robot in complex environment is the key to ensure that the robot avoids collision with obstacles.The goal of path planning is to find a feasible path from the initial state to the final state,and to avoid collision with any obstacles.The current planning scheme has the situation that the path is not optimal or may have collision.The innovation of this paper is to provide a navigation space division method based on convex optimization,and to build a feasible corridor according to the multi-obstacle environment,so as to get a path with obstacle avoidance guarantee.The algorithm in this paper can be used in any finite dimensional space with obstacles,provides a general path generation technology,and plays a positive role in the development of robot path planning technology.