一种未知环境下室内移动机器人路径规划新算法  

Novel algorithm about indoor mobile robot's path planning for unknown environment

作　　者：吴登峰[1] 梅志千[1] 尹力伟[1] 李向国[1] 

机构地区：[1]河海大学机电工程学院,江苏常州213022

出　　处：《机电工程》2015年第3期389-392,共4页Journal of Mechanical & Electrical Engineering

基　　金：常州市特种机器人及智能技术重点实验室基金项目资助(M20133004)

摘　　要：针对目前室内移动机器人的路径规划算法理论研究为主,实际应用较少的问题,通过建立了移动机器人的运动学模型,采用栅格化建模方法将室内环境进行了分块,再利用先锋机器人P3-DX及其配套的仿真软件MobileSim,设计并且成功应用了一种未知环境下室内移动机器人路径规划的新算法。该算法在结合了机器人宽度信息的基础上,进行了栅格化模型建模,采用"点到点"的路径规划方法。最后在MobilesSim和P3-DX真实机器人上分别进行了仿真和实验验证,研究结果表明,该方法有效,且具有很好的可操作性。Aiming at the problem that the path-planning algorithm of indoor mobile robot is most oriented in theory,less applied into pracitce,a kinematic model of the mobile robot was built,a grid-based modeling method was used to divide the indoor environment into blocks,a novel algorithm about indoor mobile robot＇s path planning for unknown environment was designed with the help of Pioneer P3-DX robot and its simulation software Mobile Sim. The grid mode was built based on the the width of the robot,then the＂point to point＂path planning method was adopted. The pace-planning algorithm was simulated on Mobile Sim and experimented on the P3-DX. The results indicate that the method is effective,and has good operability.

关 键 词：P3-DX Mobile SIM 未知环境 路径规划 栅格法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH39[自动化与计算机技术—控制科学与工程]