未知环境下的移动机器人定位及实时避障  

Localization and Real-time Obstacle Avoidance of Mobile Robots in an Unknown Environment

作　　者：皮旷怡[1] 马孜[1] 徐慧朴[1] 

机构地区：[1]大连海事大学自动化研究中心,辽宁大连116026

出　　处：《控制工程》2007年第B05期162-165,共4页Control Engineering of China

基　　金：国家自然科学基金(50575029)

摘　　要：针对未知环境下移动机器人实时动态避障及定位问题,考虑里程计定位的无界累加误差和动态障碍物环境下实时障碍躲避需要,提出了一种可行的避障定位的策略。该策略融合了机器人内部传感器、里程计、电子罗盘和激光测距仪的同步和异步信息,合理地解决了常规定位过程中的方向迷失问题,时于静态和动态障碍物都能很好地实时躲避,具有很强的抗干扰性和较高的定位精度。实验证明了该方法的有效性和实用性。Localization and real-time dynamic obstacle avoidance are studied for mobile robot＇s navigation in an unknown environment. Concemed with the existance of dynamic obstacle and the boundless cumulated error in odometer localization, an available strategy is presented. The synchronous and asynchronous information from all kind of sensors, odometer, compass, laser radar are fused, so that the direction-lost problem of conventional localization method is reasonably solved, and the real-time collision avoidance of static and dynamic obstacle are implemented successfully with stronger anti-interference ability and higher accuracy of localization. The experiment results show the effectiveness and practicality of the scheme.

关 键 词：移动机器人 避障 定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]