基于激光雷达的室外移动机器人避障与导航新方法  

A Novel Obstacle Avoidance and Navigation Method for Outdoor Mobile Robot Based on Laser Radar

作　　者：李云翀[1] 何克忠[1] 

机构地区：[1]北京清华大学智能技术与系统国家重点实验室,北京100084

出　　处：《机器人》2006年第3期275-278,共4页Robot

摘　　要：提出了一种应用于室外移动机器人避障与导航的新方法———角度势场法.此方法将当前视场极坐标系的二维障碍物信息转换到一维的角度域内,综合评估视场内的障碍物在角度域内产生的阻力效应,以及目标点在角度域内产生的引力效应,计算得出当前目标角度及通行函数,确定移动机器人驾驶角和速度的控制输出,做到兼顾移动机器人的安全与向目标点的行进.此方法已应用于室外移动机器人THMR-V.A novel method named Angle Potential Field method is presented for obstacle avoidance and navigation of outdoor mobile robot. With the method, the 2-dimension obstacle information in the polar coordinate space of current view scene is transformed to the l-dimension angle field. Repulsive forces produced by obstacles and attractive forces produced by the object location are estimated integratively to calculate the pass function and the purpose angle, and the controlling output of steering angle and velocity of the mobile robot are determined. As thus, both the safety of the robot and the approach to the object location are considered. The method has been applied to our outdoor mobile robot THMR-V.

关 键 词：室外移动机器人 避障 导航 角度势场法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]