基于激光测距技术的机器人移动路径跟踪与实时避障  

Robot Moving Path Tracking and Real-time Obstacle Avoidance Based on Laser Ranging Technology

作　　者：张燕 ZHANG Yan(School of Engineering,Xi’an International University,Xi’an 710077,China)

机构地区：[1]西安外事学院工学院,西安710077

出　　处：《自动化与仪表》2023年第3期30-34,共5页Automation & Instrumentation

基　　金：中国民办教育协会规划课题(CANFZG22225)。

摘　　要：为了获得理想的机器人移动路径跟踪效果,改善实时避障能力,提出基于激光测距技术的机器人移动路径跟踪与实时避障方法。采用激光测距仪获取机器人的相关位置信息,获取障碍物位置信息,采用扩展卡尔曼滤波算法对机器人移动路径进行跟踪操作,根据所得路径实现机器人避障。仿真结果表明:该文方法可以获得高精度的机器人移动路径跟踪结果,而且可以实时避障移动路径上的障碍物,具有一定应用价值。In order to obtain the ideal robot human moving path tracking effect and improve the real-time obstacle avoidance ability,a robot moving path tracking and real-time obstacle avoidance method based on laser ranging technology is proposed. The laser rangefinder is used to obtain the relevant position information of the robot and the obstacle position information. The extended Kalman filter algorithm is used to track the robot’s moving path,and the robot can avoid obstacles according to the obtained running path. The simulation results show that the method in this paper can obtain high precision tracking results of robot human moving path,and can avoid obstacles on the moving path in real time,which has certain application value.

关 键 词：激光测距技术 环境信息 移动路径 智能控制 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]