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中文摘要：
提出用四边形轮廓代替障碍物真实轮廓,首先进行粗略路径规划,得到一条由直线组成的最优路径,然后沿边连接得到真实路径.在起始点或目标点在四边形内部的情况下,采用短边优先来脱困.该方法具有图像预处理方便,规划出的路径精细且路径规划所用的时间少.
英文摘要：
It is proposed that real outlines of obstacles are replaced by quadrangles in this paper. A path consisted of beelines is planned after coarse path planning based on quadrangles and then these beelines are connected with curve lines along borders of obstacles between them. Short side of an obstacle border is selected for robots to escape from surrounded place under the condition of the start or the goal in a quadrangle. The method is characteristic of the convenience of image pretreatment and the fine path and shorter time spent on path planning.
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