基于优化向量场直方图法的机器人避障方法

The Research on Obstacle Avoidance of Robot Based on Optimized Vector Field Histogram

为解决移动机器人在未知环境下的路径规划问题,从多传感器信息融合入手,研究了基于向量场直方图法的移动机器人避障方法,分析了向量场直方图法的特点,并对向量场直方图法进行了优化;仿真结果表明:该方法能在复杂未知环境中避开障碍物并寻找最优路径,验证了该优化算法的正确性和有效性。

In order to solve the mobile robot path planning in an unknown environment, the author started the research from multi-sensor information fusion, and studied obstacle avoidance of robot based on opti- mized vector field histogram. Also, the author discussed its feature and optimized vector field histogram. The simulation results showed that this method could avoid obstacles in the complex unknown environment and to find the best path, and verified the correctness and effectiveness of the optimization algorithm.