机器人在有人环境中的避障算法的研究与实现  

Research and implementation of the robot obstacle avoidance algorithm in indoor human environments

作　　者：张东阳[1] 潘振福 朱永利[1] 

机构地区：[1]华北电力大学计算机系,河北保定071000

出　　处：《微型机与应用》2015年第20期45-47,50,共4页Microcomputer & Its Applications

摘　　要：针对室内有人复杂环境下的服务机器人避障问题,提出了一种基于函数模型调控离散PID控制器的避障算法。通过分析并简化室内有人环境的复杂情况,然后采用递减函数模型对机器人减速后,再采用人工增量法干预PID控制器平衡从而进行转弯控制。采用状态栈记录速度与偏角的函数变化,以机器人避过障碍物之后的点为对称点,开始恢复行走方向,达到绕行的效果。最后,通过实验证明了这种减速后再寻找最佳方向避障的算法的有效性和安全性。To solve the problem of the service robot obstacle avoidance in human environments, a control algorithm based on PID controller with artificial increment for obstacle avoidance is proposed. Firstly, the complex situation is simplified. Next, a linear gradient algorithm is adopted to decrease the speed of the robot and then control it to turn. For static or relatively slower obstacles,robot can record the orientation and offset of robot with status stack. After the robot has avoided obstacles, it can restore the walking direction of original purpose to reach the effect of bypassing obstacles. Finally, the efficacy and safety of this kind of algorithm which is slowing down to find the optimal direction for obstacle avoidance was proved through the experiment.

关 键 词：移动机器人 动态环境避障 室内避障 人工增量法 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]