基于voronoi图法的移动机器人路径规划文档.pdf

3 3 Vol. 3 No. 3 2005 7 CHINESE JOU RNAL O CONSTRUCTION MACHINERY Jul. 2005 Voronoi 许松清, 吴海彬, 林 宜, 高洪张, 陈天炎 ( , 350002) : . , Voronoi , . , Dijkstra , . , . T I TMS320L 2407A (DSP) . : ; ; Voronoi ; Dijkstra : TP 24 Path planning of mobile robot based on voronoi diagram method X U Songqing , W U H aibin , LIN Yi , GA O H ongz hang , CH EN Tiany an ( College of M echanical Engineering and Automation, uzhou U niversity, uzhou 350002, China) Abstract: A path planning method of mobile robot based on random static environments is studied. Based on environmental map information and use the Voronoi diagram theory, the collisionfree path for mobile robots running is built. The given start point and object point of mobile robot are linked to this path network accord ing to a special formula, then the Dijkstra shortest path search algorithm was used to find out the shortest path from the start point to the object point. inally, the mobile robot was controlled running along the found shortest path to get to the object position, so, the intelligent obstacle avoidance of mobile robot was achieved. Whole system uses the TI Co.s T MS320L 2407A digital signal processor( DSP) chip as controller. Key words: mobile robot; path network; Voronoi diagram; Dijkstra algorithm , , . . , , ; , , , . [ 1] , [2] , .Voronoi , , , , , . , . Voronoi G. Voronoi , , : ( 2002J016) : ( 1981- ) , , , . 3 , : Voronoi 337 , , [ 3] [4] Voronoi . [ 5] Voronoi , , , Voronoi , , Voronoi . Voronoi , , . Voronoi , DSP . , Dijkstra . 1 Vor