平面移动机器人最短路径规划的几何算法研究

Study on Geometric Algorithm of Shortest Path Planning for Planar Mobile Robot

平面移动机器人最短路径规划算法在许多领域有着十分广泛的应用.利用图论和Dijkstra算法研究了在由大尺度简单多边形(只在公共顶点相交的边组成的多边形)障碍物组成的平面场景中,平面移动机器人最短路径规划的几何算法,编制了仿真实现程序,给出了仿真结果.

Shortest path planning of the planar mobile robot is widely used in many fields.Based on Graph Theory and Dijkstra algorithm,this paper makes thorough analysis of geometric algorithm of shortest path planning under the circumstances where the obstacles are composed of convex or concave polygons.The simulation program is achieved and the result is also presented.