本文選題：移動(dòng)機(jī)器人　切入點(diǎn)：激光雷達(dá)　出處：《控制與決策》2017年08期 　論文類型：期刊論文

【摘要】：激光雷達(dá)以其高的角度和距離分辨率被廣泛地應(yīng)用于移動(dòng)機(jī)器人的障礙規(guī)避,但其固有的探測(cè)特性易使機(jī)器人陷入V型障礙陷阱,并增大路徑代價(jià).為此,通過深入分析激光雷達(dá)精度與距離的特性關(guān)系,提出按照探測(cè)精度將探測(cè)區(qū)域劃分為模糊規(guī)避區(qū)、精確規(guī)避區(qū)和應(yīng)急規(guī)避區(qū),進(jìn)而建立一種分層障礙規(guī)避方法.為模糊規(guī)避區(qū)設(shè)計(jì)神經(jīng)網(wǎng)絡(luò)障礙規(guī)避算法,同時(shí)在精確規(guī)避區(qū)采用邊界點(diǎn)追蹤法避撞.仿真實(shí)驗(yàn)表明,所提出方法相較于傳統(tǒng)的激光雷達(dá)避撞方法,不僅能夠使機(jī)器人避免誤入V型陷阱,而且可以產(chǎn)生更小的路徑代價(jià).
[Abstract]:Lidar is widely used in mobile robot for its high angle and range resolution, but its inherent detection characteristics easily make the robot fall into V-type obstacle trap and increase the path cost. Based on the analysis of the characteristic relationship between laser radar precision and range, it is proposed that the detection area be divided into fuzzy circumvention region, precise circumvention area and emergency circumvention area according to the detection accuracy. Then a layered obstacle avoidance method is established. The neural network obstacle avoidance algorithm is designed for the fuzzy circumvention area. At the same time, the boundary point tracking method is used to avoid collision in the precise circumvention area. The simulation results show that, Compared with the traditional laser radar collision avoidance method, the proposed method can not only avoid the robot from falling into V trap, but also produce a lower path cost.
【作者單位】： 空軍工程大學(xué)航空航天工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(61503405,61573373)
【分類號(hào)】：TP242
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本文編號(hào)：1621765