机器人避障优化模型  

The Optimal Model of Robot Avoiding Obstacle

作　　者：钟秋平[1] 

机构地区：[1]广东岭南职业技术学院博雅教育学院,广东广州510663

出　　处：《大众科技》2012年第12期75-78,共4页Popular Science & Technology

基　　金：国家自然科学基金资助项目(10871217)

摘　　要：针对机器人行走面临避障问题,建立了一种可行的避障定位最短路径和最短时间路径模型。首先分析机器人在不同障碍物之间的行走路径,通过平面几何的点、线、圆关系求出行走线路所经点的坐标、线段长和弧长。针对问题一,引入0-1变量建立最短路径模型,并对可能路线形成的连通赋权图进行优化,以加快Dijkstra算法的求解速度。针对问题二,在问题一的基础上算出转弯半径的取值范围,建立以转弯半径为变量的最短时间路径模型,并通过Matlab求解,并用CAD软件作出所求路径的直观图。结果表明算法具有精度高、速度快等特点。Aiming at the robots walk facing the obstacle-avoidance problem,modeling a feasible obstacle avoidance positioning of the shortest path and the shortest time path.Firstly,analyzes the walk path of robot between different obstacles,calculating the coordinates of point line length and arc length through the plane geometry relationship of point,line and circle.For the first question,the shortest path modeling while Introducing 0-1 variable,and optimize the connected empowerment diagram of possible route.In order to accelerate the Dijkstra algorithm solving speed.For The second question,calculation the value area of turning radius on the basis of the first problem,Establish the shortest time path model about turning radius.Using the mathematic software of Matlab to solving the model.Then drawing the path using CAD software.The result shows that the method is high precision and rapid operation.

关 键 词：避障 优化模型 最短路径 最短时间路径 DIJKSTRA算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]