一种动态环境下的移动机器人避障策略

An obstacle avoidance strategy of mobile robots under dynamic environments

以激光雷达作为主要的环境感知传感器，针对动态环境设计了一种移动机器人避障策略。根据激光雷达采集的实时环境信息，检测动静态障碍物并建立障碍物链表。采用底层反应式避障和高层动态避障相结合的策略，实现了动态环境下的避障。使用分布式的软件设计方法，提高了系统的实时性。通过自行研制的移动机器人MORCS-1进行了实验，实验结果验证了该策略的有效性。

By using the laser scanner for sensing the surrounding environment, an obstacle avoidance strategy of mobile robots under dynamic environments was designed. Based on the real-time environment information of the laser scanner, the dynamic and static obstacles were detected and the chain table of the obstacles was established. The obstacle avoidance under dynamic environments was achieved by the tight integration of the reactive obstacle avoidance module in the low layer and the dynamic obstacle avoidance module in the higher layer. The distributed method of software design improved the realtime ability of the system. The validity of the strategy was validated by the experiments on the mobile robot MORCS-1.