Fast Four-Stage Local Motion Planning Method for Mobile Robot  

作　　者：黄山 黄洪钟 曾奇 HUANG Shan;HUANG Hongzhong;ZENG Qi(Center for System Reliability and Safety,University of Electronic Science and Technology of China,Chengdu 611731,China;EvenTec Co.,Ltd.,Chengdu 610097,China)

机构地区：[1]Center for System Reliability and Safety,University of Electronic Science and Technology of China,Chengdu 611731,China [2]EvenTec Co.,Ltd.,Chengdu 610097,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第3期428-435,共8页上海交通大学学报（英文版）

基　　金：the National Key R&D Program of China (No.2017YFB1301300)。

摘　　要：Mobile robot local motion planning is responsible for the fast and smooth obstacle avoidance,which is one of the main indicators for evaluating mobile robots'navigation capabilities.Current methods formulate local motion planning as a unified problem;therefore it cannot satisfy the real-time requirement on the platform with limited computing ability.In order to solve this problem,this paper proposes a fast local motion planning method that can reach a planning frequency of 500 Hz on a low-cost CPU.The proposed method decouples the local motion planning as the front-end path searching and the back-end optimization.The front-end is composed of the environment topology analysis and graph searching.The back-end includes dynamically feasible trajectory generation and optimal trajectory selection.Different from the popular methods,the proposed method decomposes the local motion planning into four sub-modules,each of which aims to solve one problem.Combining four sub-modules,the proposed method can obtain the complete local motion planning algorithm which can fast generate a smooth and collision-free trajectory.The experimental results demonstrate that the proposed method has the ability to obtain the smooth,dynamically feasible and collision-free trajectory and the speed of the planning is fast.

关 键 词：ROBOTICS path planning trajectory generation smooth trajectory planning 

分 类 号：TP301.1[自动化与计算机技术—计算机系统结构]