基于快速进行平方算法的巡检机器人路径规划研究  

Research on Path Planning of Inspection Robot Based on Fast Marching Square Method Algorithm

作　　者：武刚[1] 许家元 邸迪 WU Gang;XU Jiayuan;DI Di(School of Information Engineering,Shenyang University,Shenyang 110044 China)

机构地区：[1]沈阳大学信息工程学院,辽宁沈阳110044

出　　处：《机械与电子》2024年第2期74-80,共7页Machinery & Electronics

摘　　要：针对目前快速行进平方法在实际场景中对Sat值选取缺乏评价尺度的问题,提出一种改进的快速行进平方法以应用于巡检机器人的路径规划。该改进方法引入路径评价函数,通过对机器人行驶距离、行驶角度变化量和与障碍物的距离进行无量纲化处理,以获取当前环境下最优的截止阈值参数Sat。构建了PID控制算法,校正了机器人的动作误差。使用MATLAB软件绘制实际运动轨迹,比较相关路径参数。仿真实验表明,改进后的快速行进平方法可根据截止阈值参数Sat生成适用于不同车型和环境特点的最优路径。该研究的改进方法为巡检机器人在实际应用中的路径规划提供了参考。Aiming at the problem that fast marching square method lacks evaluation scale for the selection of Sat values in the actual scene,an improved fast moving leveling method is proposed to be applied to the path planning of inspection robots.The improved method introduces the path evaluation function,and obtains the optimal cutoff threshold function Sat value in the current environment through dimensionless processing of vehicle driving distance,driving angle change and distance from obstacles.The PID control algorithm is constructed to correct the robot's action error.The MATLAB software is used to draw the actual motion trajectory and compare the relevant path parameters.The simulation results show that the improved method can generate the optimal path suitable for different vehicle types and environment characteristics according to cutoff threshold function Sat values.The improved method in this study provides a reference value for the path planning of inspection robots in practical applications.

关 键 词：路径规划 移动机器人 快速行进平方法 碰撞风险 评价函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]