| 基于拓扑的路径规划问题的图形解法 |
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| 引用本文： | 艾海舟 张钹. 基于拓扑的路径规划问题的图形解法[J]. 机器人, 1990, 12(5): 20-24 |
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| 作者姓名： | 艾海舟 张钹 |
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| 作者单位： | 清华大学计算机系 北京(艾海舟)，清华大学计算机系 北京(张钹) |
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| 摘 要： | 本文提出一个解决基于拓扑的路径规划问题的新途径:图形法.介绍一个用图形法建立起来的适合于矩形形状的移动机器人在以线段和圆弧为边界的障碍物环境下运动的路径规划算法.该算法考虑了环境发生局部变化时在不改变或者仅仅对拓扑网络进行局部修改后进行路径规划的问题.图形法比较普遍地解决了二维拓扑路径规划算法的实现问题.
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| 关 键 词： | 路径规划 图形法 机器人 |
A GRAPHIC APPROACH TO PATH PLANNING PROBLEM BASED ON TOPOLOGICAL METHOD |
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| AI Haizhou,ZHANG Bo Computer Science Department,Tsinghua University,Beijing. A GRAPHIC APPROACH TO PATH PLANNING PROBLEM BASED ON TOPOLOGICAL METHOD[J]. Robot, 1990, 12(5): 20-24 |
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| Authors: | AI Haizhou ZHANG Bo Computer Science Department Tsinghua University Beijing |
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| Abstract: | In this paper a graphic approach to the path planning problem based on the topological method is discussed.We develop a path planning algorithm for a mobile robot of rectangular shape among convex obstacles with theboundaries of line-segments and circle pieces. In this algorithm the local planning problem which appears whensome local changes happen has been discuased on the basis of not changing or only partially changing thetopological network. The graphic method is a general way of realizing the two dimensional topological path plan-ning algorithm. |
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| Keywords: | path planning graphics topological method robotics |
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