基于最小变量的B-样条避障问题研究  

The Research of Obstacle-avoiding Problem based on Minimum Variation B-spline

作　　者：彭辉[1] 曾碧[2] 

机构地区：[1]广西工业职业技术学院计算机系,广西南宁530001 [2]广东工业大学计算机学院,广东广州510090

出　　处：《广西民族大学学报（自然科学版）》2011年第4期44-49,共6页Journal of Guangxi Minzu University ：Natural Science Edition

基　　金：国家自然科学基金资助项目(60272089);广东省自然科学基金(No.05001801)

摘　　要：为解决移动机器人在避障时的曲线优化问题,提出了基于最小变量的B-样条避障的方法.对该方法从数学模型上进行了推导,指出了该方法相对于其他B-样条方法的优点,并对该方法进行了优化,给出了相应的优化算法.研究表明:具有最小变量的B-样条函数比只用B-样条函数定义的曲线具有更优化的线性约束,其曲线具有更好的光滑性.To solve the mobile robot in obstacle avoidance of curve optimization problems , and put for- ward based on the minimum variable B-spline obstacle-avoidance approach. The method is carried out from the derived mathematical model, that the method compared to other B-spline interpolation method has the advantage . The method was optimized, and its iterative optimization algorithm is given. Results of the em- pirical investigation indicated that the Minimum Variation B-spline problem which is a linearly constrained optimization problem over curves defined by B-spline functions only, Its curve has better smoothness.

关 键 词：最小变量 B-样条 凸性 多边形链 平面曲线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]