摘要
Animportantconceptproposedintheearlystageofrobotpathplanningfieldistheshrinkingofarobottoapointandmeanwhiletheexpandingofobstaclesintheworkspaceasasetofnewobstacles.TheresultinggrownobstaclesarecalledtheConfigurationSpace(Cspace)obstacles.Thefind-pathproblemisthentransformedintothatoffindingacollision-freepathforapointrobotamongtheCspaceobstacles.However,theresearchexperienceshaveshownthattheCspacetransformationisveryhardwhenthefollowingsituationsoccur:1)boththerobotandobstaclesarenotpolygons,and2)therobotisallowedtorotate.Thissituationgetsevenworsewhentherobotandobstaclesarethreedimensional(3D)objectswithvariousshapes.Forthisreason,directpathplanningapproacheswithouttheCspacetransformationisquiteusefulandexpected.Motivatedbythepracticalrequirementsofrobotpathplanning,ageneralizedconstrainedoptimizationproblem(GCOP)withnotonlylogicANDbutalsologicORrelationshipswasproposedandamathematicalsolutiondevelopedpreviously.Thispaperinheritsthefundamentalideasofinequalityandoptimizationtechniquesfromthepreviouswork,convertstheobstacleavoidanceproblemintoasemi-infiniteconstrainedoptimizationproblemwiththehelpofthemathematicaltransformation,andproposesadirectpathplanningapproachwithoutCspacecalculation,whichisquitedifferentfromtraditionalmethods.Toshowitsmerits,simulationresultsin3Dspacehavebeenpresented.
出版日期
2005年06月16日（中国期刊网平台首次上网日期，不代表论文的发表时间）
