基于实时障碍物预测的机器人运动规划

MOTION PLANNING FOR MOBILE ROBOT BASED ON REAL TIME OBSTACLE PREDICTION

本文给出了移动机器人的虚力导航和运动规划系统．这种方法结合最小方差估计算法（ＬＭ ＳＥ）能有效地对机器人进行实时导航和避撞．在预测过程中，根据导航的不同阶段和预测误差的变化情况，采用Ｆｕｚｚｙ 规则动态地调整误差函数中的权重，使预测过程尽可能准确．导航算法的基本思想是首先通过预测算法来获得移动机器人的运动信息，然后虚力系统根据预测信息决定机器人的未来运动，仿真结果表明该方法实时性好。

In this paper we present a virtual force guidance system for motion planning .This method is developed to work with real time least mean square error estimation algorithm (LMSE) and can effectivelynavigate the robot and avoid the collision with obstacle.We adjust the weight dynamically according to the prediction error and different navigation sessons,so that the prediction is as accurate as possible.The basic idea is to acquire the motion information of the robot and to enable virtual force guidance system to determine the future motion according to the estimation.The VFG system assures that the goal attracts the robot and obstacles repulse it, the resultant force determines the motion.Simulation results are presented to show fine real time property ,avoid the obstacle effectively and arrive at the goal.