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机器人路径规划问题被定义为一个障碍的工作环境中找到一个适当的从起点到终点的运动路径,机器人在运动过程中能安全无碰撞,绕过所有的障碍。屏障环境的机器人无碰撞路径规划是一个重要的研究课题,智能机器人,由于障碍物空间机器人运动规划的高度复杂性,使得这个问题一直没有得到很好的解决。路径规划问题的基础上,机器人的工作环境模型可以分为2类,一个是基于模型的路径规划,经营环境的整体的信息是可预测的;另一种是基于传感器的路径规划,环境信息完全未知或部分未知。
The robot path planning problem is defined as an obstacle in the work environment to find a suitable from the starting point to the end of the path of movement, the robot can be safely in the process of collision-free, bypassing all the obstacles. The robot collision-free path planning in the barrier environment is an important research topic. Due to the high complexity of the robot’s motion planning, the intelligent robot has not solved this problem well. Based on the path planning problem, the working environment models of robots can be divided into two categories, one is model-based path planning, the overall information of the business environment is predictable, and the other is the sensor-based path planning and environment information complete Unknown or partially unknown.