动态未知环境下一种新的机器人路径规划方法  

A new path planning for robot in dynamic and unknown environments

作　　者：白金柯[1] 陈立家[1] 金何[1] 陈瑞霞[1] 毛海涛[1] 

机构地区：[1]河南大学物理与电子学院,河南开封475004

出　　处：《传感器与微系统》2011年第10期33-36,共4页Transducer and Microsystem Technologies

基　　金：河南省教育厅自然科学基金资助项目(2010A510001);河南大学科学基金资助项目(2008YBZR028)

摘　　要：针对机器人动态路径规划问题,提出了一种机器人在复杂动态环境中实时路径规划方法。该方法基于滚动窗口的路径规划和避障策略,通过设定可视点子目标、绕行障碍物和对动态障碍物的分析预测,实现机器人在复杂动态环境下的路径规划。针对障碍物分布情况,合理设计可视点法和绕行算法之间转换,有效地解决了局部路径规划的死循环与极小值问题。该方法用于凸形障碍物、凹形障碍物共存的动态环境,仿真结果证明了该方法的有效性和可行性。Aiming at the dynamic path planning problem of robot, a new method which implements real-time path planning of mobile robot in complex dynamic environment is proposed. This method is based on path planning and obstacle avoidance strategy for rolling windows, according to visible point sub-goal setting, obstacle detour, analysis and forecast for moving obstacle, path planning for robot in complex dynamic environment is realized. Aiming at obstacles distribution, reasonable design on exchange between visible point and circumvent algorithm based on the obstacle distribution state, this could resolve infinite loop and minima problem that happened in local path planning. This proposed method is suitable for dynamic environment that both convex and concave obstacle exist. Simulation result proves its validity and feasibility.

关 键 词：路径规划 可视点 绕行算法 子目标 滚动窗口 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]