基于SLAM算法的图书馆服务机械人的路径研究  

Research on the Path of Library Service Robot Based on SLAM Algorithm

作　　者：李小燕[1] 员立亭[1] LI Xiaoyan;YUAN Liting(Shangluo university,Shangluo Shaanxi 726000,China)

机构地区：[1]商洛学院,陕西商洛726000

出　　处：《自动化与仪器仪表》2023年第5期201-206,211,共7页Automation & Instrumentation

基　　金：商洛学院科研基金项目《商洛乡贤文化研究》(16SLWH06)。

摘　　要：为进一步对服务型机器人的移动过程进行优化,基于SLAM算法,对图书馆服务机器人的移动过程进行路径规划研究,并提出一种离线结合在线的路径规划方法。通过对离线路径规划PSO算法和在线路径规划Q-learning算法进行分别优化,以提高各种的路径规划效果,再将两种方法相结合,解决了复杂环境下的动态不确定的路径最优化问题。仿真结果表明,与其他PSO算法相比,本研究提出的RDSPSO算法能够实现更好的离线路径规划效果,在同样的实验条件下,该算法的优化得到的路径更短,到达时间也更短;与其他的路径规划方法相比,本研究提出的离线结合在线的路径规划算法的路径规划效果更好,路径长度最少缩短了2.8 m,到达时间最少节省了29.9 s。以上结果表明,本研究提出的路径规划方法能够对图书馆服务机器人的移动路径进行进一步优化,进一步提升机器人的移动性能,可用于实际的设计。In order to further optimize the mobile process of the service robot,based on the SLAM algorithm,the path planning of the mobile process of the library service robot is studied,and a path planning method combining offline with online is proposed.The PSO algorithm for offline path planning and the Q-learning algorithm for online path planning are optimized respectively to improve the effect of various path planning.The combination of the two methods solves the dynamic and uncertain path optimization problem in complex environments.The simulation results show that compared with other PSO algorithms,the RDSPSO algorithm proposed in this study can achieve better offline path planning effect.Under the same experimental conditions,the optimized path of this algorithm is shorter,and the arrival time is also shorter;Compared with other path planning methods,the offline and online path planning algorithm proposed in this study has a better path planning effect,with a minimum path length of 2.8 m and a minimum arrival time of 29.9 s.The above results show that the path planning method proposed in this study can further optimize the mobile path of the library service robot,further improve the mobile performance of the robot,and can be used for practical design.

关 键 词：SLAM算法 路径规划 PSO算法 Q-learning算法 

分 类 号：TP392[自动化与计算机技术—计算机应用技术]