基于时延补偿的移动机器人动态避障方法  

Method of dynamic obstacle avoidance for mobilerobot based on delay-time compensation

作　　者：石朝侠[1] 洪炳镕[1] 伊连云[2] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001 [2]德州学院机电系,山东德州253015

出　　处：《哈尔滨工业大学学报》2005年第7期888-889,908,共3页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(863-2001AA422270).

摘　　要：为提高自主移动机器人的动态避障能力,提出以视觉信息为决策依据,通过时延补偿提高机器人对障碍物定位精度局部动态避障方法.在避障过程中无需考虑障碍物的运动速度和运动方向,更加适用于机器人在未知或部分未知环境下的路径规划.实验表明,这种方法是可行而有效的.In order to improve the capability of dynamic obstacle avoidance for autonomous mobile robot, a method of dynamic obstacle avoidance based on delay-time compensation was presented. This method makes decisions according to the vision information acquired and improves on the effect of obstacles' localization. During the course of the obstacle avoidance, this method makes the path planning more quickly for the reason that the velocity and the direction of the obstacles into account are not taken, which makes the method more applicable for mobile robots' navigation in unknown or partially unknown environment. The experiment indicates the method is feasible and valid.

关 键 词：移动机器人 时延补偿 动态避障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]