基于激光雷达的室内机器人路径规划方法研究  

Research on indoor robot path planning method based on LiDAR

作　　者：韩慧妍 韩方正 韩燮[1,2,3] 况立群 曹亚明[1,2,3] HAN Hui-yan;HAN Fang-zheng;HAN Xie;KUANG Li-qun;CAO Ya-ming(School of Computer Science and Technology,North University of China,Taiyuan 030051,China;Shanxi Provincial Key Laboratory of Machine Vision and Virtual Reality,Taiyuan 030051,China;Shanxi Province Visual Information Processing and Intelligent Robot Engineering Research Center,Taiyuan 030051,China)

机构地区：[1]中北大学,计算机科学与技术学院,太原030051 [2]机器视觉与虚拟现实山西省重点实验室,太原030051 [3]山西省视觉信息处理及智能机器人工程研究中心,太原030051

出　　处：《激光与红外》2024年第7期1028-1036,共9页Laser & Infrared

基　　金：国家自然科学基金项目(No.62272426);国家自然科学青年项目(No.62106238);山西省自然科学基金项目(No.202303021211153);山西省研究生教育创新项目(No.2022Y632)资助。

摘　　要：自主移动机器人在室内环境中的导航取得了重大进展,然而地图构建精度较差且路径规划欠佳,限制了这类机器人的实际应用。为了解决这些问题,提出了一种基于引导搜索的路径规划算法,即引力双向快速搜索随机树算法(GBI-RRT),该算法采用目标偏差抽样,有效地引导节点走向目标,减少无效搜索。为了进一步提高导航效率,又提出了一种消除低质量节点,提高路径曲率的路径重组策略,为了验证上述方法的有效性,将其集成到一个基于ROS系统的移动机器人中,并在仿真和真实环境实验中进行了评估。结果表明,GBI-RRT在各种室内环境下的性能均优于现有算法。Significant progress has been made in the navigation of autonomous mobile robots in indoor environments;however,poor map construction accuracy and poor path planning limit the practical applications of such robots.To solve these problems,a path planning algorithm based on guided search,the Gravitational Bidirectional Rapid Search Randomized Tree Algorithm(GBI-RRT)is proposed,which employs target bias sampling to efficiently guide nodes towards the target and reduce ineffective search.In order to further improve the navigation efficiency,another path reorganization strategy that eliminates low-quality nodes and improves the path curvature is proposed.It is integrated into a mobile robot based on a ROS system and evaluated in simulation and real environment experiments to verify the effectiveness of the above method.The results show that GBI-RRT outperforms the existing algorithms in various indoor environments.

关 键 词：自主移动 地图构建 路径规划 偏差抽样 

分 类 号：TN249[电子电信—物理电子学] TP24[自动化与计算机技术—检测技术与自动化装置]