【摘要】 给出了一种基于罚函数的机器人路径规划方法;这种方法将机器人的路径规划由一系列带约束非线形规划问题转化为一系列无约束非线形规划问题来求解,仿真结果表明,罚函数方法是一种富有效率的解决机器人路径规划问题的方法,能够大幅度降低运算时间的复杂性,提高移动机器人的实时性。更多还原

【Abstract】 A robot path planning algorithm based on penalty function is presented.The constrained nonlinear programming problem,robot path planning,is inverted into unconstrained nonlinear programming problem by this algorithm.The result of emulation indicates that the penalty function method is high efficient,the complexity of the calculation reduces and the mobile robot can be real-time controlled.更多还原