室内环境下基于激光雷达的机器人路径规划策略  

Robot Path Planning Strategy Based on Lidar in Indoor Environment

作　　者：衡蜓 HENG Ting(Jinzhong School of Information,Jinzhong,Shanxi 030800,China)

机构地区：[1]晋中信息学院,山西晋中030800

出　　处：《移动信息》2025年第3期358-360,共3页Mobile Information

摘　　要：随着机器人技术在家庭、医疗、工业和仓储等领域的广泛应用,室内环境下的机器人路径规划成为研究热点。文中提出了一种融合环境建模与路径优化的新方法,通过激光雷达实时采集环境数据,构建高精度栅格地图,并结合改进的A^(*)算法与动态窗口法,实现高效、安全的路径规划。实验结果表明,该方法在路径长度、平滑度及避障能力上均有显著提升,为室内机器人自主导航提供了有效的解决方案。With the wide application of robot technology in household,medical,industrial and warehousing fields,robot path planning in indoor environment has become a research hotspot.This paper proposes a new method that fuses environmental modeling and path optimization.By collecting environmental data in real time through lidar,high-precision raster maps are constructed,and combined with improved A^(*)algorithm and dynamic window method,efficient and safe path planning is realized.The experimental results show that the method has significantly improved the path length,smoothness and obstacle avoidance ability,providing an effective solution for indoor robot autonomous navigation.

关 键 词：激光雷达 室内环境 路径规划 栅格地图 A^(*)算法 动态窗口法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]