基于近似Voronoi图的移动机器人实时路径规划

Real-time path planning of mobile robots based on approximate Voronoi diagram

运用Voronoi图理论及人工势场理论,研究了一种基于近似Voronoi图的移动机器人实时路径规划的方法,用来实现未知室内环境中移动机器人的自主导航。该方法朝向预先定义的目标点位置来探测室内环境,生成近似Voronoi图,同时利用人工势场法进行避障,生成一条能达到目标点的安全、光滑路径。仿真结果表明,该方法简单且易于实现,同时能够减少规划时间。

This paper represents an on-line path planning algorithm which is based on Voronoi diagram and potential field method.It is designed for autonomous navigation of mobile robot in unknown indoor environment.The approximate Voronoi diagram generated from exploration towards pre-defined targets and the potential field method contribute the ability of building a safe and smooth path for attaining a desired position.Results of simulation show that this simple algorithm can be realized easily and can reduce the navigation time.