The invention belongs to the technical field of
robot path planning, and discloses a comprehensive cost optimal path
planning method for a rolling polyhedron tensioning whole
robot, which comprises the steps of predetermining possible positions and movement paths of a
robot according to a rolling advancing mode of the robot and polyhedron configuration characteristics, and obtaining a possible position and
path diagram of the robot; establishing a path planning model in a
directed graph G (V, H) mode according to the possible position and
path diagram of the robot and
terrain environment characteristics, and determining a starting point and a target point; and obtaining a path with the minimum comprehensive cost by using an
algorithm for solving the shortest path between two points in a
graph theory. The comprehensive cost optimal path
planning method is suitable for a polyhedral-structured tensioning whole robot taking rolling as a traveling mode, comprehensively considers the influence of factors such as distance,
terrain and the like on path planning decision, and executes the
algorithm for solving the shortest path between two points in the
graph theory to obtain the path withthe minimum comprehensive cost, thus the comprehensive cost optimal path
planning method of the invention has effectiveness and reliability, and a planning result is still applicable when the robot isin an off-line state.