静态场中机器人避障最短时间路径规划模型

研究轮式机器人在静态场景中绕过障碍物到达指定地点的时间最短路径问题,根据轮式机器人的运动特点,讨论了机器人越过单个障碍物顶点的时间下限,并分别设计了单次和多次转弯模型和求解算法。通过仿真实例发现:增加转弯次数的优化路径设计,能够减少机器人到达目的地所需时间,从而提高了机器人的工作效率;研究结果验证了多次转弯对缩短机器人避障时间的有效性。

Minimum Time Planning Model of Robot Path for Avoiding Obstacle in Static field

The path problem of shortest time for wheeled robots avoiding obstacles to a designated location in static field is researched. According to the moving feature of the wheeled robots, the time limit of robot passing the vertex of an obstacle was discussed, and turning models and solution algorithms for a single turning and multiple turnings were designed respectively. Through the case simulation, it was found that a optimized path design by increasing the number of turnings turns, which can effectively reduce the time required for a robot to reach a destination, and thus improve the working efficiency of the robot. The research results verify the effectiveness of making short of the time of avoiding obstacles by multiple turnings of robot.