Research on Constructing an Approximate Topological Graph and its Path Planning

摘要：

　　This paper proposes a new method to construct an approximate Topological Graph based on the traditional constructing voronoi diagram by discrete grids,which combines the PRM (Probabilistic Roadmap Method) path planning thought.By means of the approximate topological graph and the hierarchical thought,the efficiency of path planning is improved.Meanwhile,this method can reduce the unnecessary collision detection and can be effectively used in the path planning of mechanical produce.In the end,this method is analyzed and evaluated,and meanwhile some improvements and simulations about this method are given.

关键词： Approximate topological graph hierarchical path planning assembly path planning

作者: Kang Jia Jun Hong Yunlong Li Zongbin Li

作者单位: State Key Laboratory for Manufacturing System Engineering, Xian jiaotong university, Xian,Shaanxi, 710049, China

会议类型: 国际会议

会议名称: the 2010 International Conference on Frontiers of Manufacturing and Design Science(第一届制造与设计科学国际会议(ICFMD 2010))

会议地点: 重庆

会议语种:英文

页码: 596-604

在线出版日期: 2010-12-11（万方平台首次上网日期，不代表论文的发表时间）