【摘要】：激光雷達(dá)具有掃描精度高的優(yōu)點(diǎn),因此采用激光雷達(dá)來獲取機(jī)器人周圍環(huán)境信息.針對(duì)VFH算法中波谷寬度的計(jì)算以及純轉(zhuǎn)向問題,提出了一種方法來計(jì)算波谷的寬度以及檢測(cè)機(jī)器人在該波谷的可通行性,在獲得目標(biāo)方向的基礎(chǔ)上增加局部目標(biāo)點(diǎn)作為VFH算法結(jié)果,并在此基礎(chǔ)上設(shè)計(jì)一種平滑轉(zhuǎn)彎的控制策略,使得機(jī)器人能夠在復(fù)雜環(huán)境中以平滑路徑逼近目標(biāo)位置.最后通過實(shí)驗(yàn)驗(yàn)證了本文平滑避障策略的有效性.
[Abstract]:Lidar has the advantage of high scanning precision, so the Lidar is used to obtain the surrounding information of robot. Aiming at the calculation of wave trough width and the pure steering problem in VFH algorithm, a method is proposed to calculate the width of wave trough and to detect the passability of robot in the wave valley. On the basis of obtaining the target direction, the local target point is added as the result of VFH algorithm, and a smooth turning control strategy is designed on this basis, which enables the robot to approach the target position with a smooth path in the complex environment. Finally, the effectiveness of the smoothing obstacle avoidance strategy is verified by experiments.
【作者單位】： 四川大學(xué)電子信息學(xué)院;
【基金】：國(guó)家自然科學(xué)基金(61172181)
【分類號(hào)】：TN958.98;TP242
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本文編號(hào)：2181058