摘要
结合人工势场法 ,提出一种新的极限环方法 .它可以在诸如机器人足球赛等动态变化的环境中为自主移动机器人进行很好的实时路径规划 .将障碍物的运动速度和一些不易直接表达的策略 ① 等转化成势场 ,然后把势场抽象成虚拟的障碍物 ,通过改变非线性方程的极限环半径 ,获得动态运动路径规划 .这种方法能让机器人对高速运动的障碍物有很平滑的避障能力 ,并且能综合复杂的路径规划要求达到目标 .仿真和试验都表明了这种方法在机器人足球赛中的应用价值 .
In this paper,an improved limit-cycle navigation method integrated with the potential field approach is proposed. Firstly,the complex navigation requirements,such as movement strategy and speed estimation appearing in the robot soccer,are transformed into virtual obstacles by analysis of the potential field. Then,the limit-cycle navigation is applied to them for a dynamic route planning by adjusting the radius of the limit-cycle. The route planning method enables a robot to avoid high-speed moving obstacles smoothly and reach desired destination with complex requirements. The effectiveness of the proposed method is proved by simulations and experiments in the robot soccer competition.
出处
《机器人》
EI
CSCD
北大核心
2004年第2期133-138,共6页
Robot
基金
国家自然科学基金资助项目 (60 1 750 2 8)
关键词
路径规划
极限环
势场法
移动机器人
route planning
limit-cycle
potential field approach
mobile robot
