The feasible path sequential modular method was taken as the optimization strategy. The method of optimization is the Complex Method. 优化策略采用可行路径序贯模块法,优化方法为改进的复合形法。
Carrying out simulation of process by sequential modular approach, optimization of slight boost pressure process and boost pressure process have been realized by feasible path method. 以序贯模块法作为流程模拟方法,采用可行路径法对两种流程进行了优化。
Performance evaluation of the feasible path method is proposed based on a smooth track, which strikes various points by the curvature of the curve to determine the smoothness of movement. 引入一种基于运动轨迹平滑度的可行路径性能评价方法,该方法通过求取各点的曲率来判断运动曲线的平滑度,为移动机器人避障性能提供一些依据。