未知环境下双机器人协同探索方法  

A Method of Dual Robot Collaborative Exploration in Unknown Environment

作　　者：祝泽亚 谢君[1] 王智 ZHU Zeya;XIE Jun;WANG Zhi(Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学,武汉430033

出　　处：《电光与控制》2020年第4期32-37,102,共7页Electronics Optics & Control

基　　金：国家自然科学基金(61773395)。

摘　　要：针对在未知环境和未知目标位置情况下的目标搜索与地图导航问题,提出了一种双机器人协同探索方法。首先,第一台移动机器人利用摸墙算法进行目标搜索,分别运用改进的RBPF-SLAM算法和Hector-SLAM算法构建未知环境的地图,比较两种算法建图花费的时间和获得的结果,选择其中更适合搜救任务的算法。接着,第二台机器人读取来自第一台机器人的地图信息,运用A*算法规划到达目标点的最优路径,并沿着规划出的路径移动至目标点。同时,针对实际中随时可能发生变化的受灾区域,采用动态窗口法进行动态的局部路径规划。最后,对该种方法进行了仿真实验,实验结果验证了该方法的实用性和有效性。In order to solve the problems of target search and map navigation under the circumstance of unknown environment and unknown target orientation,a method of dual robot collaborative exploration is proposed.Firstly,the first mobile robot uses the wall-touching algorithm to search for the target autonomously.The improved RBPF-SLAM algorithm and the Hector-SLAM algorithm are utilized to construct the map of the unknown environment respectively,and then the algorithm more stdtable for the search task is selected by comparing the results and time spent on building a map.Next,the second robot reads the map from the first robot and moves along the optimal path planned by using the A*algorithm to the target point.Meanwhile,the dynamic window approach is used for dynamic local path planning for the damage area which may change at any time.Finally,simulation experiment is carried out and the practicability and effectiveness of this method are verified.

关 键 词：移动机器人 协同探索 改进的RBPF-SLAM算法 Hector-SLAM算法 A^*算法 动态窗口法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]