科技创新与应用2024，Vol.14Issue(18)：37-40,4.DOI:10.19981/j.CN23-1581/G3.2024.18.008
基于凸优化的移动机器人避障路径规划
摘要
Abstract
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.关键词
凸优化/移动机器人/导航空间/避障/空间分区Key words
convex optimization/mobile robot/navigation space/obstacle avoidance/space partition分类
信息技术与安全科学引用本文复制引用
李念..基于凸优化的移动机器人避障路径规划[J].科技创新与应用,2024,14(18):37-40,4.基金项目
绵阳职业技术学院科研项目(JG2022Y-037) （JG2022Y-037）
