基于凸优化的移动机器人避障路径规划OA

This paper presents a convex optimization-based obstacle avoidance path planning solution for mobile robots.The path planning and task action planning of mobile robot in complex environment is the key to ensure that the robot avoids collision with obstacles.The goal of path planning is to find a feasible path from the initial state to the final state,and to avoid collision with any obstacles.The current planning scheme has the situation that the path is not optimal or may have collision.The innovation of this paper is to provide a navigation space division method based on convex optimization,and to build a feasible corridor according to the multi-obstacle environment,so as to get a path with obstacle avoidance guarantee.The algorithm in this paper can be used in any finite dimensional space with obstacles,provides a general path generation technology,and plays a positive role in the development of robot path planning technology.