一种未知环境下的快速路径规划方法  

Rapid path planning of mobile robots in unknown environment

作　　者：高扬[1] 孙树栋[1] 黄伟峰[1] 

机构地区：[1]西北工业大学系统集成与工程管理研究所现代设计与集成制造技术教育部重点实验室,西安710072

出　　处：《计算机应用研究》2009年第7期2623-2626,共4页Application Research of Computers

基　　金：国家"863"计划资助项目(2007AA04Z187);西北工业大学研究生创业种子基金资助项目(200820)

摘　　要：为提高机器人在未知环境中的快速路径规划能力,引入自由路径表征可以通过的自由空间,引入风险函数评价机器人切入自由路径过程中发生碰撞的风险。通过搜索最优自由路径、评价碰撞风险压缩表示环境信息,使得未知环境中利用模糊控制器进行局部路径规划的实时性大为提高。与虚拟势场法等传统方法相比,其无局部最小,且极大缓解了狭窄环境中的振荡现象。实验及仿真均表明该方法实时性好、规划所得路径优于已有方法。To improve the rapid path planning ability of mobile robot in unknown environment, this paper proposed a rapid path planning approach. Where the conception of free road was introduced to describe the gaps between obstacles that the robot could get through in. And also introduced a danger estimate function to estimate the danger of collision in turning to the best free road. By finding the best free road and estimate the danger, employed a data reduction technique to compress all the infor- mation needed in path planning. With the help of this data reduction technique,improved the efficiency of the fuzzy logic con- troller significantly which was also employed to calculate the speed of robot. The results of both experiments and simulations prove that this method is more robust and get better effect than the classical ones.

关 键 词：移动机器人 局部路径规划 自由路径 模糊控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]