多障碍物环境下机器人的连续避障策略

A continuous obstacle avoidance strategy under multi obstacles environment

本文针对多障碍物环境下,机器人避障过程中又出现障碍物这一情况,设计了一种避障策略,来实现机器人的连续避障并到达指定目标点的功能。在该策略中,设计了一套基于避障状态的方向选择规则,并提出了一种象限法,来决定机器人的当前行为。实验证明,该策略实现简单,并可较大限度地降低避障行为的盲目性和重复性。

This paper designs an obstacle avoidance strategy under multi obstacles environment, in allusion to the circs that there appears other obstacles when robot is avoiding an obstacle it had detected,to make sure that the robot can avoid obstacles continuously, and finally achieve the aimed point.In this strategy,a kind of derection selection rules based on avoidance state is designed,and the quadrant based method is proposed,to decide the current robot＇s action,Experiment results show that this strategy is easy carred out, and can reduce the blindness and repetition of obstacle avoiding actions in great limit.