Research on Robot Path Planning Method Based on Tangent Intersection Method
Qiong Liu, Cheng Xudong, Hui Jizhuang, Ming Rui-hao · 2020
Aiming at the path planning problem of robots in complex field environment, this paper proposes a new method of local path planning-tangent intersection method, and the selected object is a foot robot. Firstly, the environmental information is described by constructing a new obstacle expression model; secondly, a visual tangent is constructed on this model to form an intersection network; finally, an evaluation function is used to construct a safe passage with minimum cost from the intersection network, and the simulation experiment results show that the use of the robot moving path planned by the method has high efficiency and good safety.