栅格地图环境下机器人速度势实时路径规划  

Real-Time Path Planning of Velocity Potential for Robot in Grid Map Environment

作　　者：杨凌耀 张爱华 张洁 宋季强 YANG Lingyao;ZHANG Aihua;ZHANG Jie;SONG Jiqiang(Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《计算机工程与应用》2021年第24期290-295,共6页Computer Engineering and Applications

基　　金：国家自然科学基金(61703268)。

摘　　要：针对智能制造工程环境中移动机器人的自动避障问题,提出一种基于栅格地图的移动机器人速度势实时避障路径规划方法。利用栅格法二值化移动机器人的工作场景,从机器人中心出发向不同方向进行栅格搜索。基于障碍物对移动机器人有排斥作用以及目标点对机器人有吸引作用的思想,通过栅格数的累加计算机器人到障碍物之间的实时距离,并以此为参数,考虑障碍物的形状、最小安全距离等因素的影响来建立负的速度增量函数;以机器人当前位置与目标点的实时距离和角度为参数建立正向速度增量函数。进而在机器人运动学模型基础上,定义速度势函数来对移动机器人进行实时速度驱动。通过设置最小速度增量,避免在零势点处的局部极小点问题;通过设立距离阈值,避免在目标点附近速度增量趋于无穷的问题。通过仿真对所提出的算法进行验证。Aiming at the problem of automatic obstacle avoidance of mobile robot in intelligent manufacturing engineer-ing environment,a real-time obstacle avoidance path planning method based on grid map is proposed.The grid method is used to binarize the working scene of the mobile robot,and the grid search is carried out from the center of the robot to different directions.Based on the idea that the obstacles repel the mobile robot and the target points attract the robot,the real-time distance between the robot and the obstacles is calculated by the accumulation of the number of grids,and the negative velocity increment function is established by taking the shape of the obstacles and the minimum safe distance into account.The increment function of forward velocity is established with the parameters of velocity and angle.Then,based on the robot kinematics model,the velocity potential function is defined to drive the mobile robot in real time.By setting the minimum velocity increment,the problem of local minimum at the zero potential point is avoided.By setting the distance threshold,the problem of infinite velocity increment near the target point is avoided.Finally,the proposed algorithm is verified by simulation.

关 键 词：移动机器人 人工势场 速度势 避障 实时路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]