在狭窄通道环境下书库管理机器人的最优路径规划  

Optimal Path Planning for Bookstore Management Robot Under Narrow Channel Environments

作　　者：唐丽娜[1] 李琳[1] 宿浩[2] 郭忠文[2] TANG Li-Na;LI Lin;SU Hao;GUO Zhong-Wen(Library, Ocean University of China, Qingdao 266100, China;College of Information Science and Engineering, Ocean University of China, Qingdao 266100, China)

机构地区：[1]中国海洋大学图书馆,山东青岛266100 [2]中国海洋大学信息科学与工程学院,山东青岛266100

出　　处：《中国海洋大学学报（自然科学版）》2021年第3期125-130,共6页Periodical of Ocean University of China

基　　金：山东省自然科学基金项目(ZR2017QF017)资助。

摘　　要：研究移动机器人在狭窄通道环境下的定位和路径规划问题。首先,根据在书架和图书上预置的射频识别(RFID)标签,利用RFID技术提出了确定书库管理机器人位置和姿态的方法。然后,根据书库的书架间通道狭窄的特点,将书库管理机器人的行驶状态分解为匀速直线运动和原地匀速旋转运动,并给出了机器人匀速直线运动和原地匀速旋转运动的用时模型。最后,提出一种书库管理机器人从任意起始位置和姿态到达任意目标位置的最小用时路径规划算法。仿真结果表明,本文提出的路径规划算法是有效的。The localization and path planning of mobile robots in the narrow channel environment are studied.Firstly,according to the radio frequency identification(RFID)labels set on bookshelves and books,we propose an approach to determine the location and the posture of bookstore management robot based on the RFID technology.Then,according to the characteristics of narrow path between two bookshelves,the running state of the bookstore management robot is decomposed into uniform straight line motion and uniform rotation motion in situ.The time models of uniform straight line motion and uniform rotation motion in situ of the robot is given.Finally,a minimum time algorithm of path planning is proposed for the bookstore management robot from any initial position and posturer to any target position.Simulation results show that the proposed path planning algorithm is effective.

关 键 词：移动机器人 路径规划 狭窄通道 定位 时间最优 书库管理 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]