本文为丹麦技术大学（作者：JanHoldgaard-Thomsen）的硕士论文，共90页。
医院是运输自动化的理想试验基地，因为每天都需要将许多物品从一个地点运送到另一个地点。繁重的运输任务需要大量的人力，常见的工作主要涉及垃圾、食品、衣物、床、样品、医疗设备、办公用品、邮件等的运输。
本文旨在对这一现状进行全面的分析，并以路径规划作为本文的研究主题。本文涵盖了描述路径规划问题的若干方法和用于解决路径规划问题的算法。机器人的路径规划策略是一个复杂的问题，涉及复杂性理论、映射、路径规划等多个学科。本文根据Bispebjerg医院实际环境的要求进行评估并提出相应的解决策略，阐述了在设计该系统时需要考虑的主要问题和挑战。
Hospitals are ideal candidates forautomation of transportation, as many items are transported daily from onelocation to another. The heavy load of transportation tasks requires a significantamount of manpower, and common tasks are mainly concerning transportation oftrash, food, laundry, beds, samples, medical equipment, office supplies, mailetc. In this thesis, the aim was to analyse this situation in a large, and witha focus on path planning as the central theme of this thesis. The thesis coversa number of ways to characterize the path planning problem and the algorithmsused to address it. The path planning strategy for a robot is a complexproblem, it involves a wide range of subjects: complexity theory, mapping, pathplanning and more. The presented strategies are evaluated based of therequirements for a hospital environment like Bispebjerg Hospital.The thesis specifies the main problems and challenges that need to beconsidered when designing such systems.
1 引言
2 构型空间
3 环境表征
4 路线图法
5 单元分解法
6 人工势场法
7 路径规划
8 Carmen机器人导航工具箱
9 Bispebjerg医院的规划建议
10 结论
附录A map_io.c
附录B test_map.c
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