解无碰路规划的降维法

DIMENISION REDUCTION METHOD IN COLLISIONFREE PATHS PLANNING

  • 摘要: 本文讨论具有旋转运动的三维物体的无碰路规划.根据我们在〔1〕,〔2〕中提出的状态空间和旋转映射图(RMG)概念,利用拓扑学的技术,本文提供一个研究连通性(即RMG的拓扑结构)的新方法.利用它可将机器人求无碰路问题化成有限网路中求连通道路的问题.

     

    Abstract: In this paper,collision-free paths planning for three dimensional object with rotation is described.According to the concepts of state space,rotation map graph (RMG) discussed in〔1〕,〔2〕,a new method for investigating the connectivity of RMG(or topologic structure of RMG) is presented by using topologic technique.Based on this approach the problem of finding collision-free paths for an object translating and rotating among obstacles is thus transformed to that of finding connected paths in a finite network.

     

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