基于激光雷达的Bobac机器人S型障碍物避障轨迹规划研究  

Research on Obstacle Avoidance Trajectory Planning of Bobac Robot S-type Obstacle Based on LiDAR

作　　者：张志军 陈贺 周娜 冯暖 韩召[1] 李文义 李芳芳[1] ZHANG Zhi-jun;CHEN He;ZHOU Na;FENG Nuan;HAN Zhao;LI Wen-yi;LI Fang-fang(School of Electrical and Automation Engineering,Liaoning Institute of Science and Technology,Benxi Liaoning 117004,China;BMW Brilliance Automobile Co.,LTD.,Shenyang Liaoning 110000,China)

机构地区：[1]辽宁科技学院电气与自动化工程学院,辽宁本溪117004 [2]华晨宝马汽车有限公司,辽宁沈阳110000

出　　处：《辽宁科技学院学报》2023年第1期10-13,共4页Journal of Liaoning Institute of Science and Technology

基　　金：营口市企业博士双创计划资助项目“基于服务机器人激光雷达传感器光源模块研究”(20211218)。

摘　　要：文章基于Bobac移动机器人的室内S型障碍物避障轨迹规划设计研究,采用激光雷达传感器与双轮控制相结合方式,实现S型障碍物避障轨迹规划,并实现精准定位,达到避障目的。论文主要以Bobac智能移动机器人平台为研究对象,分析智能移动机器人中里程信息不精确的问题,并基于网格Fast SLAM方法环境模型的建立实现提高计算效率以及定位精度。通过对激光雷达精度与距离关系的深入分析,提出了在精准区与模糊区内建立一种S型障碍物避障方法,引入运动模型和激光雷达传感器测量误差模型进行实时修正。文章采用自适应控制方法在实时估计Bobac机器人与障碍物距离的同时,控制移动机器人渐进跟踪期望轨迹,证明了双轮实时控制与激光雷达配合的稳定性。实验证明,相较于传统的激光雷达避撞方法,本研究所提出方法可以有效地提高在S型障碍物内避障运动。This paper presents a study on the trajectory planning and design of indoor S-shape obstacle avoidance based on Bobac mobile robot.The combination of lidar sensor and two-wheel control was used to realize the trajectory planning of S-shape obstacle and achieve precise positioning for the purpose of obstacle avoidance.The Bobac intelligent mobile robot platform was mainly taken as the research object for analyzing the problem of inaccurate mileage information in intelligent mobile robots,and establishing an environment model based on the grid Fast SLAM method to improve computing efficiency and positioning accuracy.Through the in-depth analysis of the relationship between lidar accuracy and distance,a method of S-shape obstacle avoidance in the precise area and the fuzzy area was proposed.A motion model and lidar sensor measurement error model for real-time correction were also introduced.In addition,the adaptive control method was used to estimate the distance between the bobac robot and the obstacle in real time and the mobile robot was controlled to gradually track the desired trajectory,proving the stability of the two-wheel real-time control and lidar cooperation.Experiments showed that,compared with the traditional lidar collision avoidance method,the proposed method can effectively improve the obstacle avoidance movement in the S-shape obstacle.

关 键 词：室内避障规划 Bobac移动机器人 Fast SLAM方法 S型障碍物 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]