论文标题
在动态环境中探索，障碍和避免碰撞的路径规划
Exploration, Path Planning with Obstacle and Collision Avoidance in a Dynamic Environment
论文作者
论文摘要
如果我们给机器人将对象从当前位置移至未知环境中的另一个位置的任务，则机器人必须探索地图，确定所有类型的障碍，然后确定完成任务的最佳途径。我们提出了一个数学模型，以找到一个最佳的路径计划，以避免与所有静态和移动障碍物发生冲突，并具有最小的完成时间和最小距离。在此模型中，不考虑障碍物和机器人周围的边界框，因此机器人可以在不与它们相撞的情况下非常接近障碍物移动。我们考虑了两种类型的障碍：确定性，其中包括所有静态障碍，例如不动的墙壁以及所有动作具有固定模式和非确定性的移动障碍物，其中包括所有障碍物都可以在任何时间沿任何方向出现的所有方向发生。我们还考虑机器人的加速度和减速以改善避免碰撞。
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the task. We proposed a mathematical model to find an optimal path planning that avoids collisions with all static and moving obstacles and has the minimum completion time and the minimum distance traveled. In this model, the bounding box around obstacles and robots is not considered, so the robot can move very close to the obstacles without colliding with them. We considered two types of obstacles: deterministic, which include all static obstacles such as walls that do not move and all moving obstacles whose movements have a fixed pattern, and non-deterministic, which include all obstacles whose movements can occur in any direction with some probability distribution at any time. We also consider the acceleration and deceleration of the robot to improve collision avoidance.
