移动机器人路径规划方法研究被引量：98

Research on Path Planning for a Mobile Robot

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摘要针对室内动态非结构化环境下的移动机器人路径规划问题,提出了一种能够将全局路径规划方法和局部路径规划方法相结合、将基于反应的行为规划和基于慎思的行为规划相结合的路径规划方法.全局路径规划器采用A*算法生成到达目标点的子目标节点序列;局部路径规划器采用改进的人工势场方法对子目标节点序列中相邻两节点进行路径平滑和优化处理.在考虑了移动机器人运动学约束的前提下,该方法不但能够充分利用已知环境信息生成全局最优路径,而且还能及时处理所遇到的随机障碍信息.仿真研究与在室内复杂环境下的实际运行结果验证了该方法的有效性. A path planning method based on both the benefits of global and local path planners and those of deliberate and reactive behavior planners is proposed for indoor mobile robot path planning in dynamic and unstructured environments. The global path planner uses A^＊ algorithm to generate a series of sub-goal nodes to the target node, and the local path planner adopts an improved potential field method to smooth and optimize the path between the adjacent sub-goal nodes. Taking into full consideration the kinematical constraints of the mobile robot, this method can not only effectively generate a global optimal path using the known information, but also handle the stochastic obstacle information in time. Results of simulations and realistic running in complex indoor environments validate the effectiveness of the presented algorithm.

作者曲道奎杜振军徐殿国徐方

机构地区哈尔滨工业大学中国科学院沈阳自动化研究所

出处《机器人》 EI CSCD 北大核心 2008年第2期97-101,106,共6页 Robot

基金国家863计划资助项目(2007AA041700) 山东省科技发展计划资助项目(2006GG1104014)

关键词移动机器人路径规划动态环境 mobile robot path planning dynamic environment

分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]

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