基于改进比例导引法的机器人动态避障算法  

Obstacle Avoidance Algorithm for Robot Based on Improved Proportional Navigation

作　　者：敖建华[1] 

机构地区：[1]苏州信息职业技术学院计算机科学与技术系,江苏苏州215200

出　　处：《计算机测量与控制》2015年第4期1276-1278,共3页Computer Measurement &Control

基　　金：苏州信息职业技术学院科研基金项目(YJ100614)

摘　　要：随着机器人运动环境日益复杂,为了使机器人可以安全、有效地避开动态障碍到达目的地,提出一种基于改进比例导引法的机器人动态避障算法;首先借助比例导引法的思想,通过使机器人与动态障碍物的相对速度方向导引到避障向量方向完成避障,然后为满足避障完成时间和机器人机动性能约束要求,得到重叠比例导引系数取值范围,并采用比例导引法对机器人运动路径进行规划到达目的地,最后采用仿真实验测试其有效性;仿真结果表明,该算法可以使机器安全有效地避开动态障碍物,对机器人的实际运动轨迹控制具有一定的参考价值。As the robot environment is becoming more and more complex, in order to make the robot can effectively and safely avoid dynamic obstacles to reach the destination, a novel obstacle avoidance algorithm for robot based on proportional navigation is proposed in this paper. The vector direction of relative velocity direction of the robot is obtained by proportional navigation method and complete the obstacle avoidance, and then proportional guidance coefficient is got to meet the completion time and the robot obstacle avoidance maneuver performance, robot motion path is obtained by proportional guidance to arrive the destination, the validity of algorithm is test by simulation experiments. The simulation results show that the proposed algorithm can make robot to arrive destination by avoid the dynamic obstacles safe and effective, and has certain reference value to control robot motion.

关 键 词：机器人 避障 比例导引 机动约束 

分 类 号：V448.16[航空宇航科学与技术—飞行器设计]