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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,Mixed Integer Linear Programming),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.
In order to study the path planning problem of City-Climber climbing robot in 3D building environment, this paper proposed a path planning method for City-Climber based on Mixed Integer Linear Programming (MILP) Methods To solve the obstacle avoidance problem, the mathematical model of City-Climber is decoupled and linearized by limiting robot control input. The mathematical expression describing the control input by MILP method is also introduced. Finally, taking a square room as the exercise environment, AMPL and CPLEX optimization software and Matlab software are used to solve the path planning problem.The simulation results show that the MILP method solves the problem of City-Climber in the 3D environment Path planning and obstacle avoidance issues.