基于门墙栅格地图模型的有约束路径规划研究

Research on Path Planning with Single Side Constraint Based on Door and Wall Grid Map Model

公共环境下运行的服务机器人需要选择路段的单侧行驶,以实现人机环境和谐。提出的门墙栅格地图模型由传统栅格地图模型中加入门栅格、墙栅格和中线栅格形成,门栅格只能向规定栅格扩展,墙栅格不能向任何栅格扩展,中线栅格标记路段的中线位置。基于该模型采用常规路径规划算法即可实现机器人单侧通行。实验结果证明采用门墙栅格地图模型可使全局路径规划有效选择路段单侧。

Service robot which should run in public environment should select road＇ s single side, while realizing harmony of human and robot. This paper designs door and wall grid map model, while this model is made of door grid, wall grid and midline grid, that is used to realize the restriction that the planned path must select the road＇ s single side. Conventional grid map model is appended with door grid, wall gird and midline grid to make the door and wall gird map model. The cost that wall grid to other grid is infinite, the set grids can be expanded by door grid, the midline is marked by midline gird. This paper uses the door and wall grid model and general arithmetic to plan path, and robot can move on certain side. It can be impov ed by experiment that the planed path can be limited to select road＇ s certain side by the door and wall gird map model.