用于移动机器人路径规划的曲线轨迹算法

A circular arc path algorithm for mobile robot path planning

针对移动机器人路径规划方法——人工势场法在相近障碍物之间不能发现路径的局限性，经改进，提出了一种圆弧路径算法。该改进算法从轨迹方程的角度出发，将移动机器人的路径以规则曲线的形式进行规划，确定路径方程，并以圆的曲线方程来表示．以求便于计算，同时综合考虑了路径规划的实时性和最短路径，从而可得出最优路径。构建了三维激光扫描系统作为该算法的实验平台，以获取的三维景深信息作为算法的导航信息进行了实验。基于三维景深信息的移动机器人路径规划的仿真和实验结果表明，此圆弧路径算法可以有效地解决人工势场法在相近障碍物之间不能发现路径的缺陷。

Aiming at the inherent limitation of the artificial potential field （APF） algorithm for mobile robot path planning that a path can not be detected among neighbouring obstacles, the paper presents a circular are path algorithm to modify the APF algorithm. Based on the locus equation, this modified algorithm plans the path of a mobile robot in the form of regular eurve, and then figures out the path equation denoted by the equation of a circle to simplify the ealeulation. In addtion, both the real-time feature of path planning and the shortest path are considered to get the optimal path. A 3D laser scanning system was constructed as the experimental platform for the algorithm, and the navigation information of the algorithm obtained from 3D depth-of-field information was applied to the experiment to verify the performance of the path planning method proposed in the paper. The results indicate that the circular arc path algorithm can resolve the problem of the APF algorithm that a path can not be detected between densely spaced obstacles efficiently.