摘要
移动机器人在家庭环境下使用传统A^(*)算法规划经过门的路线时,存在因规划的路径靠近障碍物而导致定位失败的问题。针对该问题,设计一种面向家庭环境的自主导航系统,并提出基于栅格-拓扑混合地图的SHS(Segmented Hybrid Search,SHS)路径规划方法。首先,在已建立的栅格地图上选取拓扑点构建栅格-拓扑混合地图;其次,通过Dijkstra算法搜索先验安全航路点序列,将航路点视为局部目标节点;最后,采用A^(*)算法实现分段路径搜索。实验结果表明,在较复杂的家庭环境中,所提的算法能快速规划通过门的安全无碰撞路径。
When a mobile robot plans the route through the door using the traditional A^(*)algorithm in the home environment,there is a problem that the location fails because the planned path is close to obstacles.To solve this problem,an autonomous navigation system for home environment is designed,and a Segmented Hybrid Search(SHS)path planning method based on grid topology hybrid map is proposed.Firstly,topology points on the established grid map is selected to build a grid topology hybrid map;secondly,the a priori safe waypoint sequence is searched by Dijkstra algorithm,and the waypoint is taken as the local target node;finally,A^(*)algorithm is used to realize segmented path search.Experimental results show that in more complex home environments,the algorithm can quickly plan a safe collision-free path through the door.
作者
吴立伟
杨俊友
孙义真
WU Liwei;YANG Junyou;SUN Yizhen(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,China;Intelligent Robot Laboratory,Shenyang Open University,Shenyang 110870,China)
出处
《电声技术》
2021年第11期76-81,共6页
Audio Engineering
基金
沈阳开放大学“基于微课的青少年机器人培训课程设计与研究”(No.SYKDXB2021-5-01)
