臺灣博碩士論文加值系統

本文就多邊形物體(機器人)於工作空間中,避免和多邊形障礙物發生碰撞,
運用各種演算方法,做有系統的規劃,來搜尋出無碰撞路徑.利用此物體與
障礙物映射於該物體之組態空間,使其轉換成空間中某一參考點及障礙區
域,進而搜尋不經過障礙區域內部的運動路徑,來形成無碰撞路徑.其中無
碰撞路徑是由障礙區域的各個頂點與參考點連節而成.本文同時利用程式
規劃,模擬各項演算法則的計算結果.

This thesis is focusing on the visibility methed to solve the
robot motion planning problem of basic type. It is a fully
account of a complete solution from the beginning to the end
with certain degree of innovation to reduce the computing
complexity of the visibility graph. The intensive programming
simulation is provided with illustrative examples. The motion
planning problem involved with General Topology. By transfering
the moving object with certain flexible orientation through a
bunch of obstacles,it has to be based on the robot analysis
technique. We utilize the configuration space notion to
construct the collision-free region in two dimention or three
dimention space. Trajectories are chosen by the connection of
all the vertices of the graph and then finding the best
available path with canonical method.