一种添加振荡抑制的移动机器人避障算法  

Obstacle avoidance algorithm for the mobile robot with vibration suppression

作　　者：吴庭明 吴宪云[1,2,3] 邓亮 李云松 WU Tingming;WU Xianyun;DENG Liang;LI Yunsong(State Key Laboratory of Integrated Services Networks,Xidian University,Xi’an 710071,China;Guangzhou Institute of Technology,Xidian University,Guangzhou 510555,China;Hangzhou Institute of Technology,Xidian University,Hangzhou 311200,China;Guangzhou Coayu Robot Co.,Ltd,Guangzhou 511495,China)

机构地区：[1]西安电子科技大学空天地一体化综合业务网国家重点实验室,陕西西安710071 [2]西安电子科技大学广州研究院,广东广州510555 [3]西安电子科技大学杭州研究院,浙江杭州311200 [4]广州科语机器人有限公司研发事业部,广东广州511495

出　　处：《西安电子科技大学学报》2024年第2期84-95,共12页Journal of Xidian University

基　　金：中国博士后科学基金(2013M540735);国家自然科学基金(61901388,61301291,61701360);111工程(B08038);陕西省科技创新团队;中央高校基本科研业务费;陕西省高校青年创新团队资助支持。

摘　　要：针对室内移动机器人动态避障算法易出现局部死区问题,提出一种改进VFH动态避障算法。首先,针对传统VFH类算法,在候选波谷评价函数中引入波谷宽度和路径长度评价指标以降低移动机器人陷入局部死区的概率,提高路径平滑性;其次,针对局部避障算法受限于局部环境易在障碍物附近发生来回振荡的问题,引入振荡评价函数,通过计算移动机器人位姿到起始点和终点的加权欧氏距离绘制振荡评价曲线,利用自动峰值检测和一阶前向差分曲线获取振荡位置,并添加振荡抑制,使移动机器人逃离局部死区。仿真验证表明,在100组仿真场景中,改进算法陷入局部死区的场景减少约70组,平均规划迭代次数降低约32.3次,平均路径长度降低约26.2%,平均累计转折角度降低约79.6%。该算法有效降低了局部避障的代价,提高路径平滑度的同时降低在局部特殊环境下陷入死区的概率。Aiming at the problem that dynamic obstacle avoidance algorithms for indoor mobile robots are prone to local dead zones,an improved vector field histogram(VFH)dynamic obstacle avoidance algorithm is proposed.First,according to traditional VFH-class algorithms,a path lenght cost and an evaluation index of trough width are introduced to the candidate evaluation function of the trough to reduce the probability of the mobile robot falling into local dead zones and to improve path smoothness.Second,in view of the problem that local obstacle avoidance algorithms are limited to local environment and oscillate back and forth near obstacles easily,an oscillation evaluation function is introduced with an oscillation evaluation curve drawn by calculating the weighted Euclidean distances from the pose of the mobile robot to the starting and ending points.Automatic peak detection and a first-order forward difference curve are employed to obtain the oscillation positions,and then the oscillation suppression is taken to make the mobile robot escape the local dead zones.Simulation results show that within 100 groups of simulation scenarios,the number of scenarios wherein the improved VFH algorithm falls into the local dead zones is reduced by 70 groups,the average number of planning iterations is decreased by 32.3 times,the average path length is reduced by 26.2%,and the average cumulative turning angle is declined by 79.6%.The algorithm can effectively reduce the cost of the local obstacle avoidance,improve the path smoothness and reduce the probability of falling into the dead zones in local special environment.

关 键 词：避障 VFH 局部死区 振荡曲线 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]