自然地形环境下移动机器人的一种路径规划方法

本文给出了一种规划移动机器人在自然地形中运动的新方法，该方法利用ＮＵＲＢＳ曲面模拟自然地形地貌，以ＴｒｉｍｍｅｄＮＵＲＢＳ曲面描述带有障碍物或不可逾越区域的地形，在综合考虑机器人动力学、地形及障碍描述和曲面特性等各方面因素的情形下，运用测地线的概念和计算方法以及Ａ＊搜索算法，获得了在自然地形环境下任意两点间的距离最短路径和时间最优路径，所有的路径均由ＮＵＲＢＳ曲线表示，实验结果表明，该方法在性能与效率上均十分令人满意．

A METHOD FOR PLANNING THE PATH OF MOBILE ROBOT MOVING ON GENERAL TERRAIN

In this paper,a new method is presented for planning the motion of a mobile robot moving on general terrains.The terrains are represented by NURBS surfaces and the terrains with obstacles or collisional regions are represented by Trimmed NURBS surfaces. The concept of a geodesic and its computation method, as well as A* search algorithm are used to obtain the path of shortest distance and time optimal path between given any two given points on general terrains.It considers robot vehicle dynamics,terrain topography and surface features.The paths are represented by NURBS curves.The adaptability and efficiency of this method are shown by experimental results.