格子点空間におけるロボットの障書物回避経路自動生成の一手法

概要

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A simplified method for automatic shortest-path generation using the vertical path search and graphic facilities of a personal computer has been presented. The space to be searched is the semi-Cartesian space (dimension 2.5), represented as the lattice point space assuming the mapping between lattice point color and height range along the z axis. The space corresponds to a graphic screen of CRT and lattice points are equal to dots on the screen. Obstacles are illustrated as colored polygons. The procedure consists of three steps: (1) straight path generation from start to goal; (2) collision detection on the dot of the path checking its height and those of obstacles; (3) assumption of a via-point as a temporary goal located on the right, left or upper side of the obstacle. This procedure is recursively processed under the criteria as to path length and an articulated collision-free path is finally obtained. The method is programmed in Prolog and some experimental results are shown.
1989-06-25