Smoothest Rail Planning for Obstacle Avoidance in Structural Environment

• Main Authors: Tsu-Yung Chin, 金祖永
• Other Authors: J. J. Chou
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/68285757824994386740

碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 89 === The study presented an approach to the smoothest path planning with obstacle avoidance in the structural environment. The information of the obstacles were supposed given and approximated by its circumscribed circle. When the guideline of measuring the smoothness of the curve, , was served as the cost function in optimized rail design, the governing equation of the smoothest collision-avoidance rail could be derived by the calculus of variations, and the curve of which is identical with the deflection curve of the bar in the frictionless structural environment was also be verified . Though the matter of path planning could be transferred to which of finding the deflection curve of the flexible bar. According to Bernoulli-Euler theory, the equation of deflection curve of the bar deformed by the concentration force could be derived and expressed its analytic form by Elliptic integral. When the bar was at the equilibrium state, it should be collision-free, but might not contact all of the obstacles. Therefore the study proposed an algorithm for searching the set of obstacle-contacted in order to find the optimal collision-free path.