面向平层多房间的内墙作业移动机器人路径规划  

Mobile Robot Path Planning for Interior Wall Operation in Flat Multi-room

作　　者：靳徐明 林云汉 张磊 闵华松 JIN Xu-Ming;LIN Yun-Han;ZHANG Lei;MIN Hua-Song(School of Computer Science and Technology,Wuhan University of Science and Technology,Wuhan 430065,China;Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System,Wuhan University of Science and Technology,Wuhan 430065,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430065,China;School of Automotive Engineering,Beijing Polytechnic,Beijing 100081,China)

机构地区：[1]武汉科技大学计算机科学与技术学院,武汉430065 [2]武汉科技大学智能信息处理与实时工业系统湖北省重点实验室,武汉430065 [3]武汉科技大学机器人与智能系统研究院,武汉430065 [4]北京电子科技职业学院汽车工程学院,北京100081

出　　处：《计算机系统应用》2024年第5期254-261,共8页Computer Systems & Applications

基　　金：国家重点研发计划(2022YFB4700400);国家自然科学基金(62073249);湖北省重点研发计划(2023BBB011)。

摘　　要：本文针对多房间的移动机器人内墙作业的路径规划任务,提出一种两阶段路径规划方法.第1阶段针对沿墙作业过程中环境存在灰尘或雾气造成的传感器失效问题,以及房间多出口时路径规划不完整问题,我们提出起点自动选择沿墙路径规划方法,基于栅格地图离线生成沿墙规划路径.第2阶段,针对点到点路径规划过程中的动态避障问题,我们提出一种基于PSAC (prioritized experience replay soft actor critic)算法的点到点路径规划方法,在软行动者-评论家(soft actor critic,SAC)的中引入优先级经验回放策略,实现机器人的动态避障.实验部分设计了沿墙路径规划对比实验和动态避障的对比实验,验证本文所提出的方法在室内沿墙路径规划和点到点路径规划的有效性.This study proposes a two-stage path planning method for the path planning task of the inner wall operation of a mobile robot in multi-room.In the first stage,for the sensor failure caused by dust or fog in the environment during wall operation and incomplete path planning when there are many exits in a room,the study proposes a start-point automatically selected wall following path planning method,which is based on grid maps to generate the wall following paths offline.In the second stage,for the dynamic obstacle avoidance problem during point-to-point path planning,it proposes a point-to-point path planning method based on the prioritized experience replay soft actor critic(PSAC)algorithm,which introduces the prioritized experience playback strategy in the soft actor critic(SAC) to achieve dynamic obstacle avoidance.The comparison experiments of wall following path planning and dynamic obstacle avoidance are designed to verify the effectiveness of the proposed method in the indoor wall following path planning and point-to-point path planning.

关 键 词：两阶段路径规划方法 沿墙路径规划 强化学习 PSAC 

分 类 号：TU767[建筑科学—建筑技术科学] TP242[自动化与计算机技术—检测技术与自动化装置]