静态场中机器人避障最短时间路径规划模型  

Minimum Time Planning Model of Robot Path for Avoiding Obstacle in Static field

作　　者：金跃强[1] JIN Yueqiang(Department of Public Basic Subject,Nanjing Institute of Industry Technology,Nanjing Jiangsu 210023,China)

机构地区：[1]南京工业职业技术学院公共基础课部,江苏南京210023

出　　处：《机床与液压》2018年第15期88-93,共6页Machine Tool & Hydraulics

基　　金：江苏省自然科学基金资助项目(BK20150420);江苏省"青蓝工程"优秀青年骨干教师资助项目(2014)

摘　　要：研究轮式机器人在静态场景中绕过障碍物到达指定地点的时间最短路径问题,根据轮式机器人的运动特点,讨论了机器人越过单个障碍物顶点的时间下限,并分别设计了单次和多次转弯模型和求解算法。通过仿真实例发现:增加转弯次数的优化路径设计,能够减少机器人到达目的地所需时间,从而提高了机器人的工作效率;研究结果验证了多次转弯对缩短机器人避障时间的有效性。The path problem of shortest time for wheeled robots avoiding obstacles to a designated location in static field is researched. According to the moving feature of the wheeled robots,the time limit of robot passing the vertex of an obstacle was discussed,and turning models and solution algorithms for a single turning and multiple turnings were designed respectively. Through the case simulation,it was found that a optimized path design by increasing the number of turnings turns,which can effectively reduce the time required for a robot to reach a destination,and thus improve the working efficiency of the robot. The research results verify the effectiveness of making short of the time of avoiding obstacles by multiple turnings of robot.

关 键 词：轮式机器人 避障 最短时间 多次转弯 共轭梯度法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]