动态路径规划形式化集成建模方法  

Formal integrated modeling method for dynamic path planning

作　　者：曹凯[1] 奉柳 刘秉政[1] 沈鹏[1] 杨旭[1] CAO Kai;FENG Liu;LIU Bingzheng;SHEN Peng;YANG Xu(School of Transportion and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2020年第3期5-10,16,共7页Journal of Shandong University of Technology:Natural Science Edition

基　　金：国家自然科学基金项目(61573009)。

摘　　要：提出形式化方法与Ad-Hoc人工势场法集成建模的思想。在多障碍物动态环境中,由于是相对于机器人-障碍物动态计算随机可达集,因此随机可达集为碰撞概率与斥力场的关联提供了一种形式化方法。该方法可以使用Ad-Hoc方法生成可比较的斥力势场,然后将这种斥力势场与障碍物和机器人的相对运动联系起来,从而提高动态环境中机器人避障路径规划的成功率。方法验证表明,在任何环境噪声水平上,提出的方法与高斯人工势场法比较,提高了到达目标位置的无碰撞成功率。The idea of integrating formal method with Ad-Hoc artificial potential field method is proposed. In the multi-obstacle dynamic environment,the random reachable set is calculated relative to the dynamic of robot-obstacle,hence the random reachable set provides a formal method for the correlation between the collision probability and the repulsive force field. This method can be used to generate comparable repulsive potential field by the Ad-Hoc method, and then the repulsive force field can be connected with the relative motion of obstacles and robots, so as to improve the success rate of obstacle avoidance path planning for robots in dynamic environments. The validated results show that,at any environmental noise level, the free-collision success rate of the proposed method is much higher than that of Gaussian artificial potential field method.

关 键 词：动态环境 路径规划 形式化 集成 建模 

分 类 号：X913.3[环境科学与工程—安全科学] U471.15[机械工程—车辆工程]