滚动窗口的动态避障路径规划方法及优化  

Method and Optimization of Dynamic Obstacle Avoidance Path Planning Based on Rolling Window

作　　者：支奕琛 谷玉海[2] 徐小力[1] 龙伊娜 ZHI Yi-chen;GU Yu-hai;XU Xiao-li;LONG Yi-na(Key Laboratory of Measurement and Control Technology,Ministry of Education,Beijing Information Science and Technology,Beijing 100192,China;Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学现代测控技术教育部重点实验室,北京100192 [2]北京信息科技大学机电工程学院,北京100192

出　　处：《机械设计与制造》2024年第10期331-338,共8页Machinery Design & Manufacture

基　　金：促进高校内涵发展—学科建设专项资助项目(5112011015)。

摘　　要：针对目前移动机器人在复杂环境例如存动态障碍物的环境下路径规划能力较弱的情况,提出一种基于优化后的滚动窗口法进行动态避障。首先对滚动窗口法的基础理论进行介绍并分析其在应用中存在的问题,得出该方法中局部子目标点的选取方式有可能使得机器人的规划出的路径陷入极小值点。在此基础上,对选择局部子目标点的方法进行了优化。然后为了防止随时可能出现的障碍物,基于动态障碍物的运行机理建立对应的数学模型,对障碍物的运行轨迹进行预测,从而根据不同的运动轨迹来设计避障对策。最后根据设计的优化方案,对预期目标进行仿真测试。在将仿真测试数据与实验结果进行验证,发现该算法能够实现在复杂的运行环境下,机器人自动规避动态障碍物具有较高的适用性。Aiming at the current weak path planning ability of mobile robots in complex environments such as environments with dynamic obstacles,a dynamic obstacle avoidance method based on an optimized rolling window is proposed.First,the basic theory of the rolling window method is introduced and the problems in its application are analyzed.It is concluded that the method of selecting local sub-target points in this method may make the planned path of the robot fall into a minimum point.On this basis,the method of selecting local sub-target points is optimized.Then,in order to prevent obstacles that may appear at any time,a mathematical model is established for dynamic obstacles to predict trajectory,and corresponding obstacle avoidance strategies are designed according to different predicted trajectories.Finally,a simulation experiment is carried out on the proposed optimization method.Through simulation and experimental verification,the algorithm has strong applicability for dynamic obstacle avoidance of mobile robots in complex environments.

关 键 词：移动机器人 动态避障 滚动窗口法 

分 类 号：TH16[机械工程—机械制造及自动化] TP3[自动化与计算机技术—计算机科学与技术]