基于改进Morphin搜索树的局部路径规划算法  

A Local Path Planning Algorithm Based on Improved Morphin Search Tree

作　　者：张毅[1] 杜凡宇 罗元[1] 

机构地区：[1]重庆邮电大学国家信息无障碍工程研发中心,重庆400065

出　　处：《电光与控制》2016年第7期15-19,共5页Electronics Optics & Control

基　　金：科技部国际合作资助项目(2010DFA12160)

摘　　要：动态环境下的机器人路径规划问题相对复杂,针对全局路径的局部环境实时规划局部路径过程中"突然"出现的障碍物可能引起机器人路径规划的震荡现象,严重者会导致机器人出现路径规划失败而无法完成自主导航。为解决该问题,提出一种基于改进Morphin搜索树的局部路径规划避障算法,通过重新局部多重规划方法得到一条非完整约束的平滑可跟踪机器人路径,并利用相应的评估函数对其进行优良性评估,避免了传统Morphin算法搜索轨迹单一、不灵活等缺点。最后,通过Pioneer 3机器人在搭建机器人操作系统(ROS)的实验平台上验证了算法的有效性和正确性。The problem of robot path planning is relatively complex under dynamic environment. During the process of real-time local path planning in local environment within the global path,sudden appearance of obstacles may cause oscillations for mobile robots path planning. If seriously enough,it will result in failures of path planning,and thus the mobile robots are incapable of finishing autonomous navigation. In order to solve this problem,we proposed an algorithm for local path planning and obstacle avoiding based on improved Morphin search tree. Through a multilayer local replanning and by using the corresponding function as a basis for the property evaluation of search tree,a smooth and trackable trajectory with nonholonomic constraints of mobile robots is obtained. This algorithm overcomes the shortcomings of simplex and inflexibility of Morphin algorithm in trajectory searching. The test on a real robot Pioneer3 verifies the correctness and effectiveness of the algorithm.

关 键 词：局部路径规划 避障 导航 Morphin搜索树 机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]