Level Set方法求解机器人路径规划的探讨

移动机器人路径规划是机器人学的一个最基本也是最复杂的问题,路径规划的主要方法有势能方法、单元分解方法、神经网络(NN)等。水平集(level set)方法已经广泛应用于图像处理和计算机图形学领域,因为其具有能够处理拓扑改变、数值稳定性好和独立于参数化的优势。为了探讨Level set方法在求解机器人路径规划中的应用,在介绍水平集法的基本思想和相关技术,以及路径规划的求解方法等的基础上,引入路径规划问题的隐式主动轮廊模型,即水平集模型,并采用快速推进方法(FMM)求解此模型方程,进而给出了路径规划模型的计算结果及其可视化界面,并且与经典势能法的计算结果进行了比较。理论和计算结果证明,Level set方法求解机器人路径规划是可行和有效的,从而为机器人路径规划研究提供了新的思路和方法。

The Solution for Robot Path Planning Based on Level Set Method

Path Planning for mobile robots is one of the most fundamental and complex problem in robotics.Main solution methods for path planning mainly include potential field,unit decomposing and neural network methods.Level set methods have been used in a variety of image processing and computer vision tasks with many advantages such as handling of topological changes,numerical stability and independence of paramerization.In order to exploit the application of Level set method in robot path planning problem.Based on introduction of the basic principle,some relative technology of level set method,and solution methods for path planning,implicit Snake or level set model for path planning problems is presented,and fast marching method(FMM) is used to solve this kind of model. Some computation results and their visualization interfaces for this model are given,and compared to the results from classical potential energy methods.Theory and computation results prove that Level set method for robot path planning is feasible and valid,then new technology and method are provide for robot path planning research.