巢湖学院学报 ›› 2020, Vol. 22 ›› Issue (6): 98-103.doi: 10.12152/j.issn.1672-2868.2020.06.014

• 工程与技术 • 上一篇    下一篇

连续障碍环境下移动机器人自主避障路径规划研究

1.王晓云:安徽信息工程学院 机械工程系 2.杨伯军:河北工业大学 国家技术创新方法与实施工具工程技术研究中心   

  1. 1.安徽信息工程学院 机械工程系,安徽 芜湖 241000 2.河北工业大学 国家技术创新方法与实施工具工程技术研究中心,天津 300401
  • 收稿日期:2020-07-26 出版日期:2020-11-25 发布日期:2021-02-02
  • 作者简介:王晓云(1983—),女,河北石家庄人,安徽信息工程学院机械工程系讲师,博士,主要从事可穿戴外骨骼机器人关键技术、机器人智能控制、复杂系统建模与控制、机电一体化技术研究。
  • 基金资助:
    科技部创新方法工作专项项目(项目编号:017IM010400);安徽省教育厅高校自然科学研究项目(项目编号:KJ2016SD07);安徽省教育厅质量工程教学研究重点项目(项目编号:2016jyxm0494);安徽信息工程学院专业核心课程建设项目(项目编号:2017xjkcjs14)

Path Planning for Autonomous Obstacle Avoidance by Mobile Robot in Continuous Obstacle Environment

1.WANG Xiao-yun: School of Mechanical Engineering, Anhui Institute of Information Technology 2.YANG Bo-jun:National Technological Innovation Method and Tool Engineering Research Center, Hebei University of Technology   

  1. 1. School of Mechanical Engineering, Anhui Institute of Information Technology, Wuhu Anhui 241000 2.National Technological Innovation Method and Tool Engineering Research Center, Hebei University of Technology, Tianjin 300401
  • Received:2020-07-26 Online:2020-11-25 Published:2021-02-02

摘要: 传统路径规划方法直接通过扫描的方式获取避障目标点,导致目标点定位精确度低,机器人避障效果差。为此,针对连续障碍环境下的移动机器人自主避障路径规划方法展开研究。在探测机器人视域范围内障碍物的基础上,判断局部避障点位置区域。选取势场最小的点作为局部目标点,根据障碍物和目标点合力的方向和大小,控制机器人避障路径方向及行进距离,从而实现机器人自主避障。与传统方法展开性能对比实验,结果表明:此方法能够提高避障路径的无碰路径长度,从而提高了机器人的移动效率。

关键词: 连续障碍环境, 移动机器人, 自主避障, 路径规划, 避障目标点

Abstract: The traditional path planning method directly obtains the punctuations for avoiding obstacles by scanning, which leads to the low target positioning accuracy and poor obstacle avoidance effect of the robot. Therefore, this paper studies the obstacle avoidance path planning method for mobile robot in continuous obstacle environment. Based on the obstacle detection in the robot's visual range, the position area of local obstacle avoidance points is judged. Then, the point with the smallest potential field is selected as the local target point. According to the direction and size of the resultant force of obstacles and target points, the path direction and travel distance of the robot to avoid obstacles are controlled, so as to achieve autonomous obstacle avoidance of the robot. Compared with the traditional method, the results show that the proposed method can improve the length of the non-collision path on the obstacle avoidance path and thus improve the robot's mobility efficiency.

Key words: continuous obstacle environment, mobile robot, autonomous obstacle avoidance, path planning, obstacle avoidance target point

中图分类号: 

  • TP24