一种复杂环境下移动机器人避障新方法  

A New Method for Mobile Robot Obstacle Avoidance Under Complicated Environment

作　　者：武春岭[1] 李贺华[1] 鲁先志[1] 

机构地区：[1]重庆电子工程职业学院计算机学院,重庆401331

出　　处：《计算机测量与控制》2015年第3期1026-1029,共4页Computer Measurement &Control

基　　金：重庆市教委"科学技术研究项目"(KJ132207);重庆市教育科学院2013年度"十二五"规划课题(2013-ZJ-079)

摘　　要：为解决基于传统人工势场法的机器人避障算法在陷阱区域或在障碍物前会产生震荡而导致机器人不能到达目标点的问题,提出一种带记忆功能的沿边法;通过记录和分析障碍物边缘人工势场法的局部最小点来判断目标点是否被障碍物包围,从而避免机器人来回震荡以及围着目标点旋转的现象;首先进行沿边行为激活和退出条件研究,然后进行局部最小点记录条件分析,最后给出了目标点被障碍物包围的判断准则;仿真实验,结果表明该方法解决了复杂环境下机器人的避障问题;该方法用于复杂环境下的机器人避障是可行的、有效的。In order to solve the traditional artificial potential field based robot obstacle avoidance algorithm method trap area or in front of the obstacle will produce shock and cause problems robot can not reach the target point, a kind of edge followed method with memory function is proposed. Through recording and analyzing the local minimum points of obstacle edge artificial potential field method to determine whether the obstacle is surrounded by the target point, thus avoid that the robot move back and forward all the time or rotate around the target point. First, stud- ying the behavioral activation and exit conditions along the border. Then, analysising the local minimum point of recording conditions. Finally, the criterion target point is surrounded by obstacles. Simulation results show that the method can solve the robot obstacle avoidance in complex environment. The method used to robot obstacle avoidance in complex environment is feasible and effective.

关 键 词：机器人 避障算法 记忆功能 复杂环境 人工势场 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]