| 基于有序二叉决策图的路径规划可行性研究 |
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| 引用本文： | 李道丰,张增芳.基于有序二叉决策图的路径规划可行性研究[J].计算机工程与设计,2008,29(22). |
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| 作者姓名： | 李道丰 张增芳 |
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| 作者单位： | 广西工学院,计算机系,广西,柳州,545006 |
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| 基金项目： | 广西自然科学基金项目，广西工学院硕士基金项目 |
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| 摘 要： | 对全局环境未知且存在障碍物情况下的移动机器人路径规划问题进行了研究.借助有序二又决策图的原理,首次采用有序二叉决策图数据结构来表示机器人工作空间中的信息环境模型,并对它们进行了二进制编码,建立一个有效紧凑的OBDD环境模型.利用该OBDD模型能自动规划了免碰撞路径,获取一条从起始状态(包括位置及姿态)到达目标状态的安全、高效的无碰路径.实验仿真结果表明,所提出的方法是正确和有效的.
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| 关 键 词： | 机器人 路径规划 有序二又决策图 二进制编码 环境模型 |
Feasibility study of path planning based on orderedbinary decision diagram |
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| LI Dao-feng,ZHANG Zeng-fang.Feasibility study of path planning based on orderedbinary decision diagram[J].Computer Engineering and Design,2008,29(22). |
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| Authors: | LI Dao-feng ZHANG Zeng-fang |
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| Affiliation: | LI Dao-feng,ZHANG Zeng-fang(Department of Computer Engineering,Guangxi University of Technology,Liuzhou 545006,China) |
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| Abstract: | Robot path planning in globally unknown environment with obstacles is studied.Using the ordered binary decision diagram principle,firstly a method to constructed the environmental information in the workspace for robot based on ordered binary decision dia-gram(OBDD) is proposed,and the binary coding for the model is presented.An effective and compact environment model with OBBD is constructed.Then the collision-free path automatically is planed with the model.A collision-free path which from the start to th... |
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| Keywords: | robot path planning ordered binary decision diagram binary encode environment model |
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