摘要
针对室内移动机器人导航要求,开发了以二维激光雷达作为探测环境的传感器,基于4个反应式行为,设计了一种简单的实时路径规划算法。避障行为使机器人穿过狭小通道,或者在某些障碍物环境下绕出狭窄区域;接近行为使机器人顺着障碍物前进直到开阔地带;搜寻行为使机器人不断朝向目标运动;线性行为使机器人到达目标点。机器人表现出很强的路径寻找能力,并且不需要定位信息。仿真实验表明该算法速度快,实时性好,路径平滑无震荡,实现了有效避障。
To the indoor mobile robot navigation requirements, a simple real-time path planning method based on four stimulate-action behaviors is designed, which takes two-dimensional laser radar as sensor to detect the environment. The obstacle-avoidance behavior role is to cause the robot to pass through the narrow and small channel, or escape from the narrow region under certain obstacle environment. The obstacle-approaching behavior role is to move the robot along the obstacle until the open area. The path-searching behavior role is to constantly move the robot towards the target. The linear behavior role is to make the robot arrive the target point. The robot can effectively search the path and does not need the localization information. The simulation results show that the algorithm runs fast and can be used to avoid the unknown obstacles without collision and to simultaneously steer the mobile robot toward the target in a smooth and stable path and continuous motion.
出处
《控制工程》
CSCD
北大核心
2009年第3期367-370,共4页
Control Engineering of China
