非360°探测范围四轮导航车辆的平滑路径避障算法  

Smooth Obstacle-avoidance by 4-wheel Navigational Vehicle Using Non-360 Range Sensors

作　　者：谭志斌[1,2] 赵祚喜[1,2] 赵汝祺[1,2] 李姣姣[1,2] 俞龙[1,2] 

机构地区：[1]华南农业大学工程学院 [2]华南农业大学南方农业机械与装备关键技术教育部重点实验室,广东广州510642

出　　处：《机器人》2013年第5期527-534,共8页Robot

基　　金：国家自然科学基金资助项目(61175081);高等学校博士学科点专项科研基金资助项目(20114404110003);农业部948计划资助项目(2011-G32)

摘　　要：提出一种基于bug算法、适用于具有最小转弯半径的非360探测范围车辆的避障导航算法,使四轮车辆能够以连续而平滑的路径绕行障碍物边缘,最终完成定目标导航.算法使用"虚拟触角"直观表示前方的通行状态;参考"触须法"分析车辆转弯状态,根据周围环境不断改变车辆的最小转弯半径,实时修正转弯路线.轮式机器人Pioneer3-AT上的试验结果对比显示,机器人可以利用该算法顺利完成未知环境下定目标无碰撞导航,生成的路径连续而平滑.本算法解决了这类车辆不能应用bug类算法的问题.An obstacle-avoidance navigation algorithm based on bug algorithm is proposed for the vehicle using non-360°range sensors and having minimum turning radius. Then the vehicle can bypass obstacle edge along a continuous and smooth path and complete the fixed-goal navigation task. This algorithm uses ＂virtual antenna＂ to intuitively represent passable state in the front. The ＂tentacle algorithm＂ is used to analyze turning state, and the minimum turning radius of the vehicle is changed according to the surrounding environment to correct the turning route in real time. The test result on a Pioneer 3-AT wheeled robot show that the robot using the proposed algorithm can reach the fixed goal in an unknown environment without collision, and the trajectory is continuous and smooth. The algorithm solve the problem that bug algorithm cannot be used in this kind of vehicles.

关 键 词：平滑路径 非360°探测范围 避障 虚拟触角 触须法 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]