一种考虑机器人尺寸约束的动态窗避障方法

A Dynamic Window Approach to Collision Avoidance Considering Robot Size Constraint

针对大部分反应式避障算法未考虑机器人尺寸约束导致机器人无法通过障碍物间可行通道的问题,提出了一种复杂环境下考虑机器人尺寸约束的动态窗避障方法。利用激光雷达提供的精确测距信息,通过探索机器人运动前方的可通行区域,避免陷入"U"型等局部最小区域;以障碍物间可行通道的宽度与机器人自身尺寸间的关系作为新的引导,构造目标函数,提高机器人对穿越路径上有限宽度可行通道的决策能力。仿真实验验证了该方法能避免局部最小问题、利于全局路径优化,提高了机器人在可行狭窄通道间的穿越避障能力,表明该方法具有有效性。

To the problem that most reactive obstacle avoidance algorithms without considering the robot size constraints , could not nake the robot pass through the feasible passage between obstacles, a dynamic window approach with considering the robot size constraint in troublesome scenarios is presented. The main idea is to explore the free space of motion ahead by laser radar for avoiding to get stuck in ＂ U＂ type local minima area. An objective function is constructed to improve the decision-making ability of passing through the fea- sible channel with finite width in the path, by evaluating the width of the feasible passage between obstacles and the robot size. The simulation results show that the proposed method can avoid the local minima, optimize the global path and improve the robot＇ s ability of passing through feasible narrow passage while avoiding collisions, which indicate the effectiveness of the method.