摘要
研究了不确定环境下移动机器人的路径规划问题。采用全局规划和局部规划相结合的方法,提出了一种基于极坐标空间,以期望方向角为优化性能指标的在线实时路径规划方法。该法利用机器人的传感器系统,实时探测局部环境信息,在每次的局部规划窗口,确定机器人的期望方向角,以机器人的实际运动方向角与期望方向角之间的差异来驱动机器人避开障碍物和朝向目标点运动。该法不仅简单灵活,而且克服了全局规划和局部规划的缺陷。仿真实验表明其有效可行性、实时性、优化性、精度高、稳定性好。
Path planning for mobile robots in the uncertain environment is investigated. Adopting the approach with the combination of global planning and local planning, an online real-time path planning technique based on polar coordinates is proposed for mobile robots in which the expectation direction angle is taken into consideration as an optimization index. Detecting real-time local information by robot sensor system, the technique orients the expectation direction of robots in every local planning window. The difference between real direction angle and desirable directional angle of robot motion drives the robot to avoid obstacles and move to the goal. The technique is not only simple and flexible, but also overcomes flaws of global planning and local planning. The effectiveness, feasibility, real-time performance, optimization capability, high precision and perfect stability are demonstrated by means of simulation examples.
出处
《制造业自动化》
北大核心
2005年第4期50-55,共6页
Manufacturing Automation
关键词
移动机器人
路径规划
在线实时
期望方向角
mobile robot
path planning
online real-time
desirable directional angle
