南阳师范学院学报

近年来移动机器人路径规划技术得到了迅猛的发展,针对路径规划技术,人们先后提出了多种算法,然而在实际的运用中,它们却显示出不同的局限性,有时人们需要对它们进行适当的改进.可视图法在移动机器人路径规划中占有重要的地位,但随着障碍物增多或遇到复杂多边形障碍物时,其运算的复杂程度就会增加,规划的难度也随之增加,现在采用算法将可视图法中一些"没用"的障碍物删除,通过两点之间直线最短的原理,选出路径规划的方向,从而减少路径规划的复杂程度和运算时间,增加可视图法的适用范围.

In recent years,the technology of path planning of mobile robots has developed rapidly. For path planning techniques,people have proposed multiple algorithms one by one. However,in practical applications,there are different limitations,so people need to properly implement them at sometimes. Visibility graph algorithms has occupied an important position in the path planning of mobile robots. But when the number of obstacles increases or complex polygonal obstacles have encountered,the complex degree of the method will increase,and the difficulty of path planning will also increase. The improved algorithm can remove some unnecessary obstacles. Some unnecessary obstacles in the view method will be deleted,and the direction of the path planning is selected by the principle of the shortest straight line between the two points,thereby reducing the complexity and operation time of the path planning and increasing the application range of the visible method.