摘要
栅格法广泛应用于移动机器人环境建模和路径规划中。为了解决在狭长空间如煤矿巷道环境中,障碍物、机器人和空间尺寸失调,以机器人中心点到自身轮廓最远距离的2倍为栅格尺寸建模容易导致路径规划失败的问题,采用以影响机器人通行的障碍物大小为基准设定栅格尺寸、机器人尺寸在地图上占据多个栅格的狭长空间地图建模方法,利用障碍物碰撞检测函数对传统A^(*)算法进行改进,仿真研究了改进算法在狭长空间中的全局路径规划的有效性,开展了实际环境下的路径规划实验。研究结果表明,采用提出的栅格建模方法和改进A^(*)算法可得到一条起始点到终点的无碰撞路线,可完成狭长空间的复杂环境路径规划。
The grid method is widely used in mobile robot environment modeling and path planning.In the narrow and long space such as coal mine roadway environment,the size of obstacles,robots and space is out of balance.Environment map,taking twice the longest distance from the robot center point to its own contour as the grid size,is easy to lead to the failure of path planning.In order to solve this problem,this paper proposes a grid map modelling method for a narrow and long space,its main idea is take the size of the obstacle that affects the passage of the robot as the grid size and the robots occupies multiple grids on the map;improves the traditional A^(*)algorithm by using the obstacle collision detection function;it studies the effectiveness of the improved algorithm in global path planning in long and narrow space by simulation and carried out the path planning experiment in the actual similar environment.The results show that the proposed grid modeling method and the improved A^(*)algorithm can obtain a collision free route from the starting point to the end point,and can complete the path planning of complex environment in long and narrow space.
作者
薛光辉
刘爽
李圆
马闯
韩司聪
侯鹏
XUE Guanghui;LIU Shuang;LI Yuan;MA Chuang;HAN Sicong;HOU Peng(School of Electromechanical and Information Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;Key Laboratory of Intelligent Mining and Robotics,Ministry of Emergency Management,Beijing 100083,China)
出处
《矿业安全与环保》
CAS
北大核心
2023年第3期62-67,共6页
Mining Safety & Environmental Protection
基金
国家自然科学基金面上项目(51874308)
国家重点基础研究发展计划(973计划)课题(2014CB046306)。
