基于邻边垂直外扩法的移动机器人避障新算法  

A New Obstacle Avoidance Method for Mobile Robot Based on Adjacent-Side Vertical Expansion Method

作　　者：宋文龙[1] 张永超 李双[1] 李玉娇 

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《计算机仿真》2018年第1期327-331,419,共6页Computer Simulation

基　　金：国家自然科学基金(31470714)

摘　　要：在移动机器人的避障策略领域中,针对传统的可行扇区角分线法评估出的运动方向使机器人严格按照中线行驶,从而导致规划出的路径不是最优的问题,提出一种邻边垂直外扩法求取可行方向的新避障算法。以激光雷达数据为依据,采用极坐标矢量法构建环境地图。当机器人与目标点之间存在障碍物的时候,采用邻边垂直外扩法获取运动方向,使机器人以最短路径沿着障碍物边缘行走,改进了传统算法的缺陷。实验结果表明,在相同的地图环境下,机器人不仅能够以一个安全平滑的路径穿过障碍区到达终点,同时邻边垂直外扩法得到的路径更优于传统的可行扇区角分线法。ABSTRACT：In the field of obstacle avoidance strategy for mobile robots, the motion direction evaluated by the method of feasible sector angle bisector makes a robot move along the midline strictly, which leads to the problem that the planned path is not optimal. A new obstacle avoidance method is developed, which uses the adjacent-side verti- cal expansion method to find feasible directions. The environment map was constructed using the method based on li- dar data. If an obstacle exists between the robot and the target point, the method of adjacent-side vertical expansion is used to obtain the direction of motion, so that the robot moves along the edge of the obstacle by the shortest path, and makes up for the deficiencies of traditional algorithm. The experimental simulation results show that under the same map environment, not only the robot can traverse the corridor with obstacles safely and smoothly, but also the path obtained by the vertical extension method is better than the method of feasible sector angle bisector.

关 键 词：移动机器人 避障 邻边垂直外扩法 可行方向 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]