基于通道动态窗口法的避障方法  

Obstacle avoidance method based on channel dynamic window approach

作　　者：刘春玲[1] 刘佳昕 郭楷文 Liu Chunling;Liu Jiaxin;Guo Kaiwen(College of Information Engineering,Dalian University,Dalian Liaoning 116622,China)

机构地区：[1]大连大学信息工程学院,辽宁大连116622

出　　处：《计算机应用研究》2025年第2期501-506,共6页Application Research of Computers

基　　金：辽宁省教育基金资助项目(LJKZ1184)。

摘　　要：针对移动机器人在复杂室内环境下的局部路径规划算法会面临躲避动态障碍物效率低、绕路及不能抵达目标点的问题,提出了一种解决室内路径规划的通道动态窗口算法。该方法选用基于密度的应用噪声空间聚类算法(DBSCAN)先对障碍物分割,在相邻障碍物之间建立通道,并将生成的通道离散化生成一系列的通道点。通过设计的通道点评价函数,选择出最优通道点作为动态窗口法的临时通道点,为动态窗口法提供正确的方向。采用通道动态窗口法对真实环境中的ROS机器人进行路径规划,结果表明,通道动态窗口法在路径长度、运行时间和采样次数的性能上均优于动态窗口法,表现出更强的适应性和鲁棒性,避免了移动机器人躲避障碍物不及时和陷入局部位置的问题。该算法既能独立执行局部路径规划任务,也能与A算法相结合进行全局路径规划。Local path planning algorithms for mobile robots in complex indoor environments faced the problems of inefficient avoidance of dynamic obstacles,detouring and inability to reach the target point.This paper proposed a channel dynamic windowing algorithm to solve the indoor path planning.The method selected the density-based applied noise spatial clustering algorithm(DBSCAN)to segment the obstacles first,create channels between neighboring obstacles,and discretize the generated channels to produce a series of channel points.Through the designed channel point evaluation function,this algorithm selected the optimal channel points as the temporary channel points for the dynamic window me-thod to provide the correct direction for the dynamic window method.By applying the channel dynamic window method to perform path planning for ROS robots in real environments,the results show that the channel dynamic window method outperforms the dynamic window method in terms of the performance of path length,running time,and number of sampling times,exhibiting stronger adaptability and robustness,which effectively prevents the mobile robot from delaying obstacle avoidance and getting trapped in local positions.The algorithm can perform local path planning tasks independently,and can also be combined with the A algorithm for global path planning.

关 键 词：室内路径规划 动态窗口法 通道 局部路径规划 移动机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]