摘要
本文讨论了一种用于二维空间中无碰路径搜索的新方法——自由三角形法。这里障碍物被抽象成封闭的几何图形(含凹域),且限制在一个矩形区域内,矩形域内障碍物以外的部分称为自由空间,自由空间被分割成三角形的集合,路径搜索就是在此基础上实现的。自由三角形法是机器人学中有关路径求解问题的一种新方法。
This paper focuses on methods and techniques for exploring collision-free paths in a 2-dimenaional space where obstacles are simplified into some geometric enclosed figures. They are restricted to be inside a rectangle region. The free-spaces which are inside the rectangle and outside the obstacles are divided into free-triangles. Paths are planned through the set of these triangles, which is called free-triangle-set. This is a new method involving path-planning problems in robotics.
出处
《计算机辅助设计与图形学学报》
EI
CSCD
1992年第3期50-55,共6页
Journal of Computer-Aided Design & Computer Graphics
关键词
机器人
路径规划
free-triangle-method, free-space, relation-net, optimized-path.
