商业街道形态对移动机器人路径规划的影响  

The Impact of Commercial Street Morphology on Mobile Robot Path Planning

作　　者：丁杰 王林申[1] 张宣峰[2] 付佳[1] DING Jie;WANG Linshen;ZHANG Xuanfeng;FU Jia

机构地区：[1]济南大学土木建筑学院,山东济南250022 [2]山东建筑大学设计集团有限公司,山东济南250013

出　　处：《城市发展研究》2025年第2期I0013-I0019,共7页Urban Development Studies

基　　金：山东省自然资源厅2024年在研科研项目“‘人机城’共融场景与机器人友好城市空间导则研究”(2024-17);山东省城市更新学会重点研究专项课题“机器人与城市空间关系研究”(240602);济南大学博士基金项目“流空间”影响下都市区外围城市中心的空间形成机制(XBS160100319)。

摘　　要：机器人在城市空间中的应用日益广泛,为探讨商业街道形态对移动机器人路径规划的影响,采用机器人操作系统,利用VS Code编程,集成Gazebo、Rviz搭建仿真环境。使用Gmapping算法、AMCL和move_base功能包,实现移动机器人路径规划。通过修改商业街道界面连续性、宽度、障碍物数量和分布、街廓线形式,分析不同街道形态对移动机器人路径规划效率的影响。结果显示,连续的街道界面增加路径规划耗时,街道宽度大于或小于7m时会提高路径规划效率,减少障碍物数量并优化其分布可减少路径规划时间,街廓线有凸出且对称将增加路径规划耗时。研究揭示了商业街道形态在固定算法前提下与移动机器人路径规划效率间的关系,提出了机器人时代下商业街道治理的基本逻辑。Robots are increasingly being used in urban spaces.In order to explore the effect of commercial street morphology on the path planning of mobile robots,the study adopts the ROS,programmed with VS Code,and builds a simulation environment with Gazebo and Rviz.The experiment used the Gmapping algorithm,AMCL and move_base package to achieve path planning for mobile robots.By modifying the continuity,width,number and distribution of obstacles,and the form of contour line of the streets,the study analyzed the mechanism of how different street morphologies affect the efficiency of mobile robot path planning.The results show that a continuous street in-terface increases the path planning time,street widths greater or less than 7m increase path planning efficiency,fewer obstacles and optimized its distribution can reduce the path planning time,and the path planning time is increased when the street profile is convex and symmetrical.The study reveals the relationship between the form of commercial streets and the efficiency of mobile robot path planning under fixed algorithm premises,and proposes the basic logic of commercial street gov-ernance in the era of robots.

关 键 词：商业街道形态 移动机器人 路径规划 影响 

分 类 号：TU984.113[建筑科学—城市规划与设计] TP242[自动化与计算机技术—检测技术与自动化装置]