基于虚力栅格法的移动机器人实时避障和导航  

Real-time Obstacle Avoidance and Navigation Based on Virtual Force Grid Method

作　　者：姜志兵[1] 赵英凯[1] 

机构地区：[1]南京工业大学,江苏南京210009

出　　处：《机床与液压》2007年第5期91-93,共3页Machine Tool & Hydraulics

摘　　要：综合虚拟力场法和栅格法的优点,研究了移动机器人的导航和避障的问题。此方法采用确定栅格描述障碍物,具有简易、直观的特点,它使机器人在移动过程中能够检测到未知的障碍物并避开它,实现机器人朝着目标点移动。仿真结果表明,该方法具有良好的可行性和有效性。Virtual force grid method was proposed by combining the advantage of virtual force field and grid method, and the problem on navigation and collision avoidance for autonomous mobile robots was studied. This method uses certainty grids for obstacle representation, can make the mobile robot detect unknown obstacles and avoid collisions in the movement and further advance toward the target. The simulation results demonstrate the feasibility and the validity of the method proposed.

关 键 词：虚拟力场法 移动机器人 避障 实时导航 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]