| 一种用于机器人路径规划的新方法 |
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| 引用本文： | 刘溯微,史万明.一种用于机器人路径规划的新方法[J].计算机辅助设计与图形学学报,1992,4(3):50-55. |
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| 作者姓名： | 刘溯微 史万明 |
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| 作者单位： | 北京理工大学 100081
(刘溯微，史万明)，北京理工大学 100081(吴裕树) |
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| 摘 要： | 本文讨论了一种用于二维空间中无碰路径搜索的新方法——自由三角形法。这里障碍物被抽象成封闭的几何图形(含凹域),且限制在一个矩形区域内,矩形域内障碍物以外的部分称为自由空间,自由空间被分割成三角形的集合,路径搜索就是在此基础上实现的。自由三角形法是机器人学中有关路径求解问题的一种新方法。
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| 关 键 词： | 机器人 路径规划 |
A New Method for Exploring Collision-Free Paths in a 2-Dimension Space |
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| Liu Suwei,Shi Wanming,and Wu YushuBcijng Institute of Technology.A New Method for Exploring Collision-Free Paths in a 2-Dimension Space[J].Journal of Computer-Aided Design & Computer Graphics,1992,4(3):50-55. |
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| Authors: | Liu Suwei Shi Wanming and Wu YushuBcijng Institute of Technology |
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| Affiliation: | Liu Suwei,Shi Wanming,and Wu YushuBcijng Institute of Technology,100081 |
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| Abstract: | This paper focuses on methods and techniques for exploring collision-free paths in a 2-dimenaional space where obstacles are simplified into some geometric enclosed figures. They are restricted to be inside a rectangle region. The free-spaces which are inside the rectangle and outside the obstacles are divided into free-triangles. Paths are planned through the set of these triangles, which is called free-triangle-set. This is a new method involving path-planning problems in robotics. |
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| Keywords: | free-triangle-method free-space relation-net optimized-path |
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