基于嵌入式高精度激光测距的自主移动机器人避障方法  

Obstacle avoidance method for autonomous mobile robots based on embedded high-precision laser ranging

作　　者：冯志斌 张荣辉 FENG Zhibin;ZHANG Ronghui(School of Optoelectronic Information,Minnan Science and Technology University,Quanzhou Fujian 362332,China)

机构地区：[1]闽南科技学院光电信息学院,福建泉州362332

出　　处：《激光杂志》2024年第12期230-235,共6页Laser Journal

基　　金：福建省教育厅中青年教师教育科研项目(科技)(No.JAT200983);闽南科技学院新工科重点建设项目(No.MKXGK-2021-03)。

摘　　要：在自主移动机器人工作环境中,障碍物的分布具有较强的随机性,这对于机器人避障的精度和适应性提出了更高的要求。为此,提出基于嵌入式高精度激光测距的自主移动机器人避障方法。首先,利用嵌入式高精度激光测距技术采集环境信息,生成机器人移动环境的栅格地图。然后,通过二次A∗算法规划机器人全局最优路径,并利用动态切点法对最优路径作平滑处理。最后,在机器人沿全局最优路径行进的过程中,采用Morphin算法实时规划局部避障路径,实现自主移动机器人避障。实验结果表明,在复杂静态障碍物环境中,该方法的规划避障路径的耗时更短,耗时均值仅为1.129 s;在动态障碍物环境中,该方法能够成功实现机器人较为平滑的行进和避障,机器人到达终点所用时间约1260 s左右,说明应用该方法的避障效果更理想。In the working environment of autonomous mobile robots,the distribution of obstacles has strong randomness,which puts higher requirements on the accuracy and adaptability of robot obstacle avoidance.To this end,an obstacle avoidance method for autonomous mobile robots based on embedded high-precision laser ranging is proposed.Firstly,using embedded high-precision laser ranging technology to collect environmental information and generate a grid map of the robot's moving environment.Then,the global optimal path of the robot is planned using the quadratic A∗algorithm,and the optimal path is smoothed using the dynamic tangent method.Finally,during the process of the robot traveling along the global optimal path,the Morphin algorithm is used to plan local obstacle avoidance paths in real-time,achieving autonomous mobile robot obstacle avoidance.The experimental results show that in complex static obstacle environments,the planning of obstacle avoidance paths using this method takes less time,with an average time of only 1.129 seconds;In a dynamic obstacle environment,this method can successfully achieve smoother robot movement and obstacle avoidance.The time it takes for the robot to reach the endpoint is about 1260 s,indicating that the obstacle avoidance effect of applying this method is more ideal.

关 键 词：嵌入式技术 高精度激光测距 自主移动机器人 避障路径 A∗算法 

分 类 号：TN925[电子电信—通信与信息系统]