多地形约束条件下的移动机器人路径规划方法  

Mobile Robot Path Planning Method Under Multi-terrain Constraints

作　　者：彭湘 向凤红[1] 毛剑琳[1] PENG Xiang;XIANG Feng-hong;MAO Jian-lin(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,昆明650500

出　　处：《小型微型计算机系统》2021年第9期1900-1905,共6页Journal of Chinese Computer Systems

基　　金：国家自然科学基金项目(61163051)资助;云南省教育厅科学研究基金项目(2015Y071)资助。

摘　　要：针对传统路径规划中未考虑地形因素而引起的移动机器人能耗过多问题,通过假设移动机器人工作环境为非完全平坦地形,提出一种多地形约束条件下的移动机器人路径规划方法.首先,为了表示环境内的不平坦地形,定义了一种2.5维栅格地图,引入半自由栅格与半障碍栅格的概念,将原可通行性系数范围扩增以便移动机器人识别.其次,通过综合地面高差、地面坡度和地表粗糙度3种非平坦地形因素设计总代价函数,将其与可通行性系数对应,从而判断栅格区域是否可行.最后,引入人工势场法中目标点的引力势场信息,融合蚁群算法进行路径规划.实验分别在静态和动态环境下进行,仿真结果验证了该方法的有效性和可行性.To solve the problem of excessive energy consumption of mobile robots caused by failure to consider terrain factors in traditional path planning,a method of mobile robot path planning under multi-terrain constraints is proposed by assuming that the working environment of mobile robot is non-completely flat terrain.Firstly,in order to represent the uneven terrain in the environment,a 2.5D grid map is defined.And the concepts of semi-free grid and semi-obstacle grid are introduced.And Jthe range of the original accessibility coefficient is expanded to be recognized by mobile robots.Then,by integrating the three uneven terrain factors of ground height difference ground slope and surface roughness,a total cost function is designed,which is mapped to the accessibility coefficient to judge whether the grid area is feasible.Finally Jthe gravitational potential field information of the target point in the artificial potential field is introduced,which is combined with the ant colony algorithm for path planning.The experiments were conducted in static and dynamic environments,and the simulation results verified the effectiveness and feasibility of the method.

关 键 词：非完全平坦地形 路径规划 2.5维栅格地图 可通行性系数 势场蚁群融合算法 

分 类 号：TP321[自动化与计算机技术—计算机系统结构]