應用數種位能場模型於路徑規劃之研究

Abstract

路徑規劃之目的在於讓行進物體在自由空間中，由起點一直到終點且 發 生與障礙物的碰撞。本篇論文，假設障礙物是靜止的而行進物體則 一剛 體，並探討利用位能場來達到避碰。在先前的研究中，我們曾經瓞{物體 及障礙物上都是分佈均勻的電荷。本篇論文，則考慮非均勻分G的情形如 線性與二次分佈。在路徑規劃的過程中，最可能發生碰撞的a方是路徑中 較狹窄的部份，又稱之為瓶頸。在此論文中，我們即針對宣擐b通道瓶頸 附近的路徑作規劃。根據所提之規劃方法，行進物體在o模型中會盡量走 使能量較低的路徑，所以不止能避碰，同時更能循著□w全的路徑行進。 初步的實驗結果證實，這的確可以改善物體行經瓶V時的安全性。但是其 改善的程度及效果，則視電荷重新分佈之程度而鹵鄔顜騥i一步的研究。 Given a robot, making it travel from the start position tohe destination without causing any collisions with obstaclesorresponds to the basic concept of path planning. In thishesis, the path planning of a rigid object among staticbstacles using potential field models is considered. In therevious researches using a Newtonian potential model, the robotsnd obstacles are assumed to be uniformly charged. In thishesis, non-uniform models are considered which include linearnd quadratic charge distributions. In this thesis, planningbject paths around free space bottlenecks are considered wherehe moving object is more likely to collide with obstacles. Thebject configurations of least energy are obtained along theath, which is not only collision free but also achieves obstaclevoidance in an optimal way. According to preliminary simulationesults, through proper selection of the non-uniform chargeistributions on object or obstacles, the safety of the path cane indeed improved. The effectiveness of such an improvement, ifny, depends on the extent in which the charge is redistributed,nd needs further investigation.