基于改进快速距离转化的移动机器人路径规划方法

在分析快速距离转化法不足的基础上，提出了一种利用空间数据结构及编码方案的特性进行距离和安全转化，使用约束参量控制路径搜索过程的三维空间机器人路径规划方法。这种方法使用八叉树建立空间模型，通过构建树节点的拓扑关系使路径搜索转化为图搜索算法。根据拓扑关系按照波动传播的方法依次对各个节点进行距离和安全转化，保证了可行路径的产生。约束参量的使用能够有效地避免传统方法在搜索过程中的随机性，协调路径规划中的最短距离和最大安全需要，搜索给定参数下的最优路径空间。理论分析和仿真实验验证了该算法的可行性和正确性。

A Modified Method for Planning Path Based on Distance Transform for Mobile Robot

This paper discusses a random process and an unexpected result in a fast 3D path planning for mobile robot using distance transform and presents a modified method, based on distance transform with distance and security controls which are supported by a special encoding scheme in the workspace division. A building process of data structure for octrees describes the division and later, the neighbor octants in octrees arc found, The distance and security transform is transacted as the tipples radiating out to promise any possible path will be affected, The method is efficient for planning in fixed conditions selected by distance and security required which avoid the random or unpredictable result and ensure that a constraint optimum path will be generated for mobile robot to excute. The result of simulation proves the feasibility and validity of this brand new method.