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基于混合整数线性规划的爬壁机器人路径规划

, PP. 792-797

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Abstract:

为研究City-Climber爬壁机器人在3D建筑物环境中的路径规划问题,基于混合整数线性规划(MILP,MixedIntegerLinearProgramming),提出了一种适用于City-Climber的路径规划方法.为了用MILP方法解决避障问题,首先用限制机器人控制输入的方法对City-Climber的数学模型进行解耦和线性化,再介绍了用MILP方法对控制输入进行描述的数学表达式,并提出了适用于爬壁机器人的新型代价函数,最后以一个方形房间为运动环境,用AMPL和CPLEX优化软件,以及Matlab软件解算路径规划问题.仿真结果表明MILP方法较好地解决了City-Climber在3D环境下的路径规划和避障问题.

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