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以障碍物为基础构建电子地图，任意形状的障碍物用近似多边形代替，而后用直线将机器人运动的起始点和所有空间中的障碍物的顶点及目标点连接，并保证这些线不与空间障碍物相交，则这些线即为“可视线”，构成“可视线”的端点即为“可视点”，这样就形成一张图，称为可视图。
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ultrasound molecular imaging
ultrasound mother and child monitoring devices
ultrasound phase array
ultrasound physiotherapy devices
ultrasound protection
ultrasound scalpel
ultrasound sterilization
ultrasound surgical operation and focusing treatment devices
ultrasound tomography
ultrasound, ultrasonics
ultrasound, ultrasonic sound
ultrasound wave
ultraspeed
ultraspherical
ultraspherical differential equation
ultraspherical function
ultraspherical polynomial
ultrastability
ultrastable
ultrastable glass
ultrastable systems
ultrastrength material
ultrastrong
ultrastrong dual
ultrastrong operator topology
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