移动机器人避障路径规划方法研究  

Mobile Robot Obstacle Avoidance

作　　者：伊连云[1] 张秀英[1] 姚俊红[1] 

机构地区：[1]德州学院机电工程系,山东德州253015

出　　处：《农业装备与车辆工程》2006年第3期47-49,共3页Agricultural Equipment & Vehicle Engineering

摘　　要：以全自主移动机器人为研究平台,介绍了移动机器人的硬件体系结构、避障行为决策、避障运动控制等。提出一种足球机器人避障路径规划方法,该方法吸取了栅格法信息处理量小的优点,只对障碍物的威胁点进行检测,弥补了其在特征匹配方面的不足,同时无需考虑障碍物的运动状态和运动速度,提高了机器人避障的灵活性和鲁棒性。According to the character of the mobile robot obstacle avoidance, a method of dynamic obstacle a, avoidance based on neural network was presented. This article presented the decision of obstacle avoidance behavior,robot moving control based on neural network during obstacle avoidance process. This method predigested the approach for the reason that we need not to take the velocity and the direction of the obstacles into account and made the robot to judge flexibly whether it needs to avoid the obstacle and chooses proper ways of obstacle avoidance according diversified circs. It improved flexibly and adaptively the robot obstacle avoidance. The experiment of simulation indicates that the method is feasible and valid.

关 键 词：移动机器人 神经网络 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]