發(fā)布時(shí)間：2019-03-16 15:18

【摘要】：針對(duì)傳統(tǒng)人工勢(shì)場(chǎng)法在路徑規(guī)劃中存在局部極小點(diǎn)問(wèn)題,提出了一種基于虛擬彈簧模型的移動(dòng)機(jī)器人局部路徑規(guī)劃算法。通過(guò)模擬彈性小球在有障礙物的斜坡上滾下過(guò)程中的受力情況,規(guī)劃移動(dòng)機(jī)器人從開(kāi)始位置到目標(biāo)點(diǎn)位置的移動(dòng)過(guò)程;建立彈簧力學(xué)模型完成機(jī)器人的避障行為,并結(jié)合使用沿障礙物邊緣移動(dòng)和切換目標(biāo)點(diǎn)位置兩種控制策略,解決局部路徑規(guī)劃算法極易出現(xiàn)的局部極小點(diǎn)問(wèn)題。仿真試驗(yàn)和實(shí)際移動(dòng)機(jī)器人的實(shí)驗(yàn)表明,該算法能進(jìn)行實(shí)時(shí)避障和路徑規(guī)劃,并確保移動(dòng)機(jī)器人在絕大部分環(huán)境中能安全、快速地到達(dá)目標(biāo)點(diǎn)。
[Abstract]:A local path planning algorithm for mobile robot based on virtual spring model is proposed to solve the problem of local minima in path planning based on traditional artificial potential field method. By simulating the force of the elastic ball in the process of rolling down the slope with obstacles, the moving process of the mobile robot from the starting position to the position of the target point is planned. The spring mechanics model is established to complete the obstacle avoidance behavior of the robot. Combined with the control strategy of moving along the edge of the obstacle and switching the position of the target point, the local minimum point problem which is easy to occur in the local path planning algorithm is solved. Simulation experiments and actual mobile robot experiments show that the proposed algorithm can avoid obstacles and plan paths in real time, and ensure that the mobile robot can reach the target point safely and rapidly in most environments.
【作者單位】： 浙江大學(xué)電氣工程學(xué)院;浙江水利水電學(xué)院信息工程與藝術(shù)設(shè)計(jì)學(xué)院;杭州電子科技大學(xué)計(jì)算機(jī)學(xué)院;
【基金】：浙江省自然科學(xué)基金(LY13F020033)項(xiàng)目資助
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前4條

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本文編號(hào)：2441629