| 摘要 |
The invention concerns a method which consists in: modelling the contours of each dangerous zone by a succession of segments delimited by points; determining two homing circles (R1, R2) and two capture circles (C1, C2), passing through the initial (I), respectively final (F), point tangent to the initial (rI), respectively final (rF) route, and having the radius of the initial, respectively final, turning; determining the tangents (TR1, TR2, TC1, TC1', TC2, TC2') both to the homing circles (R1, R2) or to the capture circles (C1, C2) and to the contour of each dangerous zone (M1, M2, M3); selecting among said tangents a pair of tangents (TR1, TC1) to a homing circle (R1) and to a capture circle (C1), defining a path skeleton linking a homing circle to a capture circle without encountering a dangerous zone; and determining a path on the basis of said trajectory skeleton.
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