摘要
针对室内移动机器人导航问题,提出一种包括全局规划层、局部路径优化层、反应式导航控制层的导航策略。根据已知环境建立全局拓扑地图,为机器人提供全局导航信息;根据机器人当前位置,从全局地图中提取信息生成采用有向线段描述的局部地图,在机器人运行过程中,不断利用传感器信息更新局部地图,并根据图中有向线段之间的拓扑关系获得机器人的局部路径点,机器人采用传感器信息、地图信息、历史轨迹信息的反应式导航方法趋向局部路径点。仿真试验表明,导航策略可以产生优良的运行轨迹,并确保机器人在复杂环境中安全运行。
A strategy based on global planning layer, local path optimizing layer and reactive navigation controlling layer is presented for indoor mobile robot navigation. Global topological map of the known en- vironment is built to provide the global navigation information for robot. According to the current position of robot, local map is constructed with data extracted from global map, which is described with directed line segments. In the movement of robot, local map is kept being updated via sensor information, and a sequence of local path points is attained according to the topological relationship between the directed line segments in the local map. Information from map, historical track and sensor is used to make the robot approach the next local path point. The simulation results show that the above strategy can produce better trajectory and assure safe operation of robot in complicated environments.
出处
《电机与控制学报》
EI
CSCD
北大核心
2006年第4期380-384,共5页
Electric Machines and Control
基金
国家"863"计划资助项目(2003AA421030)
