一种动态未知环境中自主机器人的导航方法  

A Method of Autonomous Robot Navigation in Dynamic Unknown Environment

作　　者：孟伟[1] 黄庆成[1] 韩学东[1] 洪炳镕[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,哈尔滨150001

出　　处：《计算机研究与发展》2005年第9期1538-1543,共6页Journal of Computer Research and Development

基　　金：国家"八六三"高技术研究发展计划基金项目(2001AA422270);国家自然科学基金项目(69985002)~~

摘　　要：提出一种动态未知环境中机器人自主导航方法,利用少量的人类辅助避免了繁琐的地图描述.该方法分两个阶段:用户引导阶段和自主导航阶段.在用户引导阶段,利用多种传感器信息融合生成局部环境的粗略的极坐标地图,利用它可以得到全局地图,还给出了消除传感器数据误差的方法;在自主导航阶段,利用引导阶段得到的地图在动态环境中进行运动,并给出了运动控制的约束条件以及动态避障的方法.机器人利用该方法可以处理突发的障碍物,还能对路径进行优化,实验结果证明了其有效性.An autonomous navigation method of robot in dynamic unknown environment is presented. Human＇s assistance is used instead of particular description of map. There are two phases in this method, which are human＇s guiding phase and autonomous navigation phase. In phase of human＇s guiding, a rough polar coordinate map of local environment is obtained by multi sensor information fusion and through it the global map is obtained. The method of eliminating sensor data error is also given here. According to map obtained in guiding phase, a robot moves in dynamic environment in the phase of autonomous navigation. Constraint condition of robot＇s motion control and dynamic obstacle avoiding method are also presented. Robot can dispose of emergent obstacles in this method, and optimization of path is also attained. Experiment results show the effectiveness of this method.

关 键 词：自主机器人 传感器融合 避障 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]