移动机器人的混合式路径规划算法研究  

Research on Hybrid Path Planning Algorithm for Mobile Robots

作　　者：钟灿灿 陈万米[1] ZHONG Cancan;CHEN Wanmi(School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200444,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200444

出　　处：《自动化仪表》2021年第9期61-66,共6页Process Automation Instrumentation

摘　　要：针对移动机器人在两个相邻的子工作区域中易陷入局部死区陷阱的问题,提出慎思层与反应层相结合的混合式路径规划算法。首先,在慎思层采用栅格法为移动机器人规划出全局较优路径序列,并为反应层提供子目标点。然后,在反应层采用人工势场法或行为分解法实现慎思层规划的路径,并对环境中的障碍物进行避障。仿真结果表明,混合式路径规划算法具有良好的规划效果。基于栅格法与人工势场法的混合式路径规划以及基于栅格法与行为分解法的混合式路径规划都能使移动机器人高效地到达目标点,有效地实现避障。移动机器人路径规划解决方案对室内移动机器人的导航和避障具有一定的借鉴意义。Aiming at the problem that mobile robots can easily fall into the local dead zone trap in two adjacent sub-working areas,a hybrid path planning algorithm combining the deliberation layer and the reaction layer is proposed.Firstly,the deliberation layer uses the grid method to plan the global optimal path sequence for the mobile robot and provides the sub-targets for the reaction layer.Then,the reaction layer uses the artificial potential field method or behavior decomposition method to realize the path planned by the deliberation layer and avoids obstacles in the environment.The simulation results show that the hybrid path planning algorithms have good planning effect.The hybrid path planning based on the grid method and the artificial potential field method and the hybrid path planning based on the grid method and the behavior decomposition method both can make the mobile robot reach the target point efficiently and avoid obstacles effectively.The solution of mobile robot path planning has certain reference significance for indoor mobile robot navigation and path planning.

关 键 词：慎思层 路径规划 反应层 混合式路径规划算法 栅格法 广度搜索算法 动态栅格 人工势场法 行为分解法 

分 类 号：TH86[机械工程—仪器科学与技术]