动态障碍物环境下的扫地机器人路径规划  

Path planning of sweeping robot in dynamic obstacle environment

作　　者：陈肯 赵慧 蒋林[1,2] 周和文 黄惠保 CHEN Ken;ZHAO Hui;JIANG Lin;ZHOU Hewen;HUANG Huibao(Key Laboratory of Metallurgical Equipment and Control of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China;Zhuhai A Micro Semiconductor Co Ltd,Zhuhai 519000,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081 [3]珠海一微半导体股份有限公司,广东珠海519000

出　　处：《传感器与微系统》2024年第7期153-156,共4页Transducer and Microsystem Technologies

基　　金：国家重点研发计划资助项目(2019YFB1310000)。

摘　　要：针对扫地机器人在清扫过程中因无法提前判断动态障碍物而发生碰撞的问题,提出一种动态障碍物环境下的扫地机器人路径规划方法。通过对激光和地图数据的处理,实现动态障碍物的检测与求解;利用改进的二维高斯分布函数结合动态障碍物信息更新地图栅格代价值;结合动态障碍物分析,改进膨胀方式,并引入新型评价子函数系数计算方法和动态阈值设定方法优化动态窗口法(DWA);在栅格代价值更新的地图上,利用全局和局部路径规划算法实现动态避障。实验结果表明:该方法能较好实现扫地机器人对于动态障碍物的提前避让,具有可行性和有效性。Aiming at the problem that sweeping robot cannot judge dynamic obstacles in advance,which cause collision during cleaning process,a path planning method of sweeping robot in dynamic obstacle environment is proposed.Through processing of laser and map data,the detection and solution of dynamic obstacles are realized.Map grid cost value is updated by using improved two-dimensional(2D)Gaussian distribution function to combine with dynamic obstacle information.Inflation mode is improved combined with dynamic obstacle analysis,and introduce novel evaluation sub-function coefficient calculation method and dynamic threshold setting method to optimize dynamic window approach(DWA).Dynamic obstacle avoidance is realized by using the global and local path planning algorithm on the map with updated grid cost value.Experimental result shows that this method can effectively achieve early avoidance of dynamic obstacles for sweeping robot,and has characteristics of feasibility and effectiveness.

关 键 词：动态障碍物 路径规划 栅格代价值 优化动态窗口法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]