移动机器人改进Dijkstra算法下路径规划及可视化研究  

Research on Path Planning and Visualization of Mobile Robot Based on Improved Dijkstra Algorithm

作　　者：贾文友[1,2] 魏文涛 朱良恒 梁利东[1,2] JIA Wenyou;WEI Wentao;ZHU Liangheng;LIANG Lidong(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,China;Anhui New R&D Institutions of Human-machine Interaction and Collaboration,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000 [2]安徽工程大学人机自然交互和高效协同技术研究中心,安徽芜湖241000

出　　处：《徐州工程学院学报（自然科学版）》2021年第2期34-38,共5页Journal of Xuzhou Institute of Technology(Natural Sciences Edition)

基　　金：安徽高校省级科学研究项目(KJ2016A057,KJ2018A0102)。

摘　　要：在移动机器人的路径规划研究中,避障策略和规划路径距离最短是核心问题.凸包障碍模型策略实现移动机器人的路径规划中不规则障碍物的规整化.针对凸包障碍模型对象,提出了改进Dijkstra算法求解移动机器人路径规划中避障下的距离最短轨迹.为了验证算法的有效性,构建移动机器人作业虚拟场景,利用虚拟现实技术中通用Unity3D引擎平台,设计可视化仿真系统;在背投式虚拟现实系统的实验装置中,沉浸式漫游改进Dijkstra算法求解所得到移动机器人路径规划数据结果的3D立体可视化效果.As to the mobile robot’s path planning,both the obstacle avoidance strategy and the shortest path planning distance are the key problems.The convex hull obstacle model strategy realizes the regularization of irregular obstacles in the path planning of mobile robots.Using the convex envelopment box,an improved Dijkstra algorithm is proposed to solve the shortest path in mobile robot path planning.In order to verify the validity of the proposed algorithm,a virtual scene of mobile robot is constructed,and the visual simulation system is designed using by Unity3D engine platform.The Dijkstra algorithm is improved by immersive roaming,and the visualization platform is experimentally verified in the system device of rear projection virtual reality to obtain the 3D stereo visualization.

关 键 词：凸包障碍模型 改进DIJKSTRA算法 虚拟现实 可视化 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]