摘要
提出一种基于传感器的移动机器人避障路径规划算法。考虑到传感器存在视场范围限制的问题,算法仅利用当前单一视场内的有限环境信息,采用两种搜索模式,以机器人当前的运动方向、障碍物边界端点数据及目标点所在方向为依据,在当前视场中搜索合适的路径。这两种搜索模式保证了路径最终收敛到目标点。最后,通过仿真实例验证了算法的有效性。
A new sensor-based obstacle avoidance and path planning algorithm for mobile robots is proposed. The field-of-view（FOV） constraint of sensors is considered, and only the local information of the environment in a single FOV is used. Two searching modes are employed to find a safe path in the current FOV, given the current moving direction, data of obstacle boundary endpoints and the orientation of the target. The two modes ensure the convergence to the target of the path. Simulations results demonstrate the effectiveness of the algorithm proposed.
出处
《空间控制技术与应用》
2008年第4期11-16,共6页
Aerospace Control and Application
关键词
移动机器人
有限视场
避障
路径规划
mobile robots
limited field-of-view
obstacle avoidance
path planning
