基于有序二叉决策图的路径规划可行性研究  

Feasibility study of path planning based on orderedbinary decision diagram

作　　者：李道丰[1] 张增芳[1] 

机构地区：[1]广西工学院计算机系

出　　处：《计算机工程与设计》2008年第22期5824-5826,5829,共4页Computer Engineering and Design

基　　金：广西自然科学基金项目(0640034);广西工学院硕士基金项目(05022)

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。借助有序二叉决策图的原理,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。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 diagram （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-flee path which from the start to the end is presented. The simulation results show that the proposed method is correct and effective.

关 键 词：机器人 路径规划 有序二叉决策图 二进制编码 环境模型 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]