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