艾海舟, 张钹. 基于拓扑的路径规划问题的图形解法[J]. 机器人, 1990, 12(5): 20-24..
AI Haizhou, ZHANG Bo. A GRAPHIC APPROACH TO PATH PLANNING PROBLEM BASED ON TOPOLOGICAL METHOD. ROBOT, 1990, 12(5): 20-24..
Abstract：In this paper a graphic approach to the path planning problem based on the topological method is discussed.We develop a path planning algorithm for a mobile robot of rectangular shape among convex obstacles with theboundaries of line-segments and circle pieces. In this algorithm the local planning problem which appears whensome local changes happen has been discuased on the basis of not changing or only partially changing thetopological network. The graphic method is a general way of realizing the two dimensional topological path plan-ning algorithm.
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