基于改进RRT^(*)算法的智能轮椅全局路径规划研究  

Intelligent wheelchair global path planning research based on the improved RRT^(∗)algorithm

作　　者：骆海涛[1,2] 孙嘉泽 高鹏宇 曾德生 李家成 Luo Haitao;Sun Jiaze;Gao Pengyu;Zeng Desheng;Li Jiacheng(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;Shenyang University of Chemical Technology,School of Information Engineering,Shenyang 110142,China;Shenyang Aerospace University,School of Automation,Shenyang 110135,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]沈阳理工大学机械工程学院,沈阳110159 [4]沈阳化工大学信息工程学院,沈阳110142 [5]沈阳航空航天大学自动化学院,沈阳110135

出　　处：《仪器仪表学报》2023年第10期303-313,共11页Chinese Journal of Scientific Instrument

摘　　要：现实环境中智能轮椅大多数处在复杂场景下工作,其自主导航时对路径安全性等要求较高。渐进最优随机搜索树RRT*算法基本满足移动机器人最优路径规划,但由于智能轮椅本体较大,容易与环境较近接触,因此可对环境模型进行膨胀并定义不同搜索步长,使其规划出的路径远离障碍物。其次为保证用户在使用智能轮椅导航时能够获得更高的舒适性,更高效的到达目的地,而借用启发式约束采样思想和人工势场中引力场思想修剪此算法规划时的冗余节点,从而减小系统运行内存,随后结合轮椅的最小转弯半径,提出最小段路径曲率约束策略和三次B样条曲线算法对路径进行平滑处理,使其更加适合轮椅行驶。最终在MATLAB和Gazebo仿真平台对改进前后算法对比实验,并将本文算法应用与智能轮椅实体上,试验结果表明,该算法能够有效解决智能轮椅全局路径规划问题,能够明显提升全局路径规划效率,具有一定安全性,可为其移动机器人领域提供有效参考。In the real environment,most intelligent wheelchairs work in complex scenarios,and their autonomous navigation requires high requirements for path safety.The asymptotic optimal random search tree RRT star algorithm basically meets the optimal path planning of mobile robots.However,due to the large size of the intelligent wheelchair itself,it is easy to come into close contact with the environment.Therefore,the environmental model can be expanded and different search steps can be defined to keep the planned path away from obstacles.Secondly,to ensure that users can achieve higher comfort and more efficient destination when using intelligent wheelchair navigation,the heuristic constraint sampling idea and the gravitational field idea in the artificial potential field are used to prune the redundant nodes in the planning process of this algorithm.Therefore,the operating memory of the system is reduced.Subsequently,combined with the minimum turning radius of the wheelchair,a minimum path curvature constraint strategy and a cubic Bspline curve algorithm are proposed to smooth the path,which make it more suitable for wheelchair driving.Finally,a comparative experiment is conducted on the improved algorithms on MATLAB and Gazebo simulation platforms,and the proposed algorithm is applied to intelligent wheelchair entities.The experimental results show that the algorithm can effectively solve the global path planning problem of intelligent wheelchairs,significantly improve the efficiency of global path planning,and have a certain degree of security.It provides an effective reference for the mobile robot field.

关 键 词：智能轮椅 路径规划 渐进最优随机搜索树 B样条 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH39[自动化与计算机技术—控制科学与工程]