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Given scene robot obstacle avoidance during the shortest path to solve optimization problems
Pages: 166-170
Year: Issue:  12
Journal: Automation & Instrumentation

Keyword:  ObstructionsAvoidance pointsShortest path;
Abstract: 讨论了给定场景下机器人避障过程中最短路径优化问题的求解.主要研究了在一个区域中存在12个不同形状的障碍物,由出发点绕过障碍物经过若干固定点到达目标点的情形.通过切点坐标及直线与弧线长度的确定,按照拉绳子绕过圆弧形障碍物得到的可能最短路径,建立机器人绕过多个避障点的最短路径模型为:minL=∑Li+∑Li最短时间路径模型为:Mint=∑mi=1(shi)(sli)+∑mi=1 V./1+e10-e2.然后比较其大小,得到最优解.
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