论文标题
机器人运动计划的离散轨迹空间的组合
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
论文作者
论文摘要
运动计划是机器人控制中的一个困难问题。问题的复杂性与机器人配置空间的维度直接相关。尽管在许多理论计算和实际应用中，配置空间被建模为连续空间，但我们根据机器人的基本硬件规格提出了一个离散的机器人模型。使用晶格路径方法，我们通过计算离散机器人配置空间中可能的轨迹数量来提供运动计划复杂性的估计。
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the configuration space is modeled as a continuous space, we present a discrete robot model based on the fundamental hardware specifications of a robot. Using lattice path methods, we provide estimates for the complexity of motion planning by counting the number of possible trajectories in a discrete robot configuration space.
