路径规划问题的商空间表达
Quotient Space Representation of Path-Planning Problems
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摘要: 利用计算几何理论研究了非结构化环境中路径规划问题的商空间表达及其结构特征,并 讨论了最优路径间的等价关系和商空间路径规划的基本思想,针对非结构化二值地形环境,设 计了商空间构造的递归算法.该方法可以推广到n维空间中.Abstract: This paper explores the quotient space representation of path-planning problems and its structure characterisation in unstructured environment by employing the theory of computational geometry, discusses the equivalent relation among optimal-paths and the basic ideology of quotient space approach, and develops a recursive construction algorithm of quotient space particularly for a unstructured environment associated with obstacles in homogeneous-cost background terrain. This method can be extended to the n-dimension space.
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Key words:
- Path-planning /
- quotient space /
- optimal-path table /
- Voronoi figure
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