机器人避障行走的最短路径

摘要

机器人避障行走的路径必须由相切的直线段和圆弧组成，故建立了从圆外点向圆作切线和作两圆公切线的计算切点坐标的显式公式。针对众多组合绕行方案，设计出寻求最佳方案的计算简便且筛选全面的折线过滤法；指出紧贴障碍线的路径是最短路径，并给出了完整的证明。机器人在指定点处转弯需走圆弧，为确定圆心坐标，构建基于角平分线的近似方法，同时建立优化模型，并通过搜索求解，验证了该近似方法具有极高的精度。%The article illustrates that the walking path of obstacle avoidance for robots have to be composed by tangent straight line segments and arcs, so a formula from the point outside the circle tangent to the circle and make for the calculation of the common tangent of two circles tangent point coordinates is carried out. For many combination bypass program, it designs the most optimized plan and screens line filtration. It pointes out the path closest to the obstacle, and gives a complete proof. Robot in turn needs to go at a specified arc to determine center coordinates, based on the angle bisector construct approximate methods, while it establishes optimized model and verifies that the approximation method has very high accuracy through search algorithm.