CAJ | 학술논문

本文主要研究了机器人在一个区域内按照一定的行走规则避开该区域内的十二个障碍物，由出发点到达目标点的最短路径和最短时间路径的问题。首先分析得到行走路径由圆弧和与那些圆弧相切的直线组成。然后将路径中遇到的拐点分解为一个或者两个的情况，并给出了各种情况下路径距离以及切点坐标的求法。最后针对不同的目标点分别建立模型并计算出最短路径距离以及途中直线和圆弧的起点、终点坐标。在此基础上，建立非线形规划模型，利用LINGO求出的最短时间路径。
본문주요연구료궤기인재일개구역내안조일정적행주규칙피개해구역내적십이개장애물，유출발점도체목표점적최단로경화최단시간로경적문제。수선분석득도행주로경유원호화여나사원호상절적직선조성。연후장로경중우도적괴점분해위일개혹자량개적정황，병급출료각충정황하로경거리이급절점좌표적구법。최후침대불동적목표점분별건립모형병계산출최단로경거리이급도중직선화원호적기점、종점좌표。재차기출상，건립비선형규화모형，이용LINGO구출적최단시간로경。
This paper studies the shortest path and the shortest time path problem from the starting point to the target point in a region with twelve obstacles,the robot walks in that area according to certain rules to avoid those obstacles.Firstly,the walking path constituted by some arcs and straigt lines tangent to those arcs.The path can be decomposed into one or two inflection points,then gives solving methods of the path distance and tangent point coordinate in various situations.Finally,for different target points,models are established and calculates the shortest path distance and the starting and ending points coordinates of the straight lines and arcs.On this basis,a non-linear programming model is established, and the shortest time path form O to A is solved by LINGO.