基于激光雷达的移动机器人避障控制研究  

Research on Indoor Obstacle Avoidance of Mobile Robot Based on Laser Radar

作　　者：刘杰[1] 闫清东[1] 唐正华 

机构地区：[1]北京理工大学机械与车辆学院,北京100086 [2]装甲兵学院模拟训练中心,安徽蚌埠233050

出　　处：《计算机测量与控制》2015年第3期787-790,共4页Computer Measurement &Control

基　　金：国防重点实验室基金资助项目(00JS37.2.2.JB6101)

摘　　要：以VFH算法思想为基础,提出适用于激光雷达的数据处理算法,将其作为避障算法用于移动机器人的室内自主行进过程中;根据室内避障问题的特点,通过仿真研究设计了适用于室内避障的障碍物阈值规则;在移动机器人实验中发现,受室内地面环境影响,直接将仿真程序应用到移动机器人实际操作中,会出现打滑偏航乃至不能顺利到达目标点的严重后果;为此,根据航向角变化率提出了分段降速方法,应用该方法移动机器人在起始点与目标点可以自主移动,验证了算法的有效性与实用性。Based on VFH algorithm, a laser radar data processing algorithm is used as the obstacle avoidance algorithm for indoor autono mous mobile robot. According to the characteristics of the indoor obstacle avoidance problems, through simulation study, an obstacle threshold rule is applied to indoor obstacle avoidance. In actually, by indoor surface environmental impacts, it is found that the simulation program is directly applied to the robot will cause robot slip and yaw, seriously consequences is that the robot can not reach the target. To this end, according to the change of course angle rate, we propose a method of the sectional velocity reducing method. And using this method, the rothe experiment verified the effectiveness and practicality of the al gorithm.

关 键 词：移动机器人 室内避障 激光雷达 自适应阈值 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]