基于势场路径规划的机器人同步定位与地图构建  

Robot simultaneous localization and mapping with path planning based on potential field

作　　者：弋英民[1] 刘丁[1] 李人厚[2] 

机构地区：[1]西安理工大学自动化与信息工程学院,西安710048 [2]西安交通大学系统工程研究所,西安710049

出　　处：《控制与决策》2010年第4期627-631,共5页Control and Decision

基　　金：国家自然科学基金项目(60675048);陕西省自然科学基金项目(SJ08ZT13-11);陕西省教育厅专项(08JK385)

摘　　要：针对特征点同时为障碍物的环境,提出一种基于势场路径规划的同步定位与地图构建算法.机器人在同步定位与地图构建的同时,利用势场原理确定机器人的运动控制律,再根据推算的控制律进行下一步的预测和状态估计.在基于势场的路径规划方法中,认定为障碍物的排斥势位的最小影响范围可调节.实验结果表明,利用所提出的算法,机器人可在特征点同时为障碍物的环境中进行同步定位与地图构建,并通过相关性能指标验证了该算法为一致性估计.To adapt to environments with objects characterized by both landmark and obstacle,an algorithm taking into account path planning based on potential field and simultaneous localization and mapping（SLAM） is proposed.When robot is simultaneously localizing and mapping,the law of robot motion control is determined based on the principle of potential field.According to derivative control law,next step forecasting and state estimation are performed.In the path planning methods based on the potential field,the minimum distance of influence about repulsive potential of identified as obstacles can be adjusted.The experiment results show that the SLAM problem in environments with objects characterized by both landmark and obstacle is solved by using the proposed algorithm.The relevant performance indicators prove the consistency of estimates of the algorithm.

关 键 词：势场 路径规划 机器人 同步定位与地图构建 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]