随机移动机器人运动碰撞的避免方法仿真

Simulation on Avoidance Method for Random Mobile Robot Collision

研究机器人运动碰撞避免问题。机器人随机运动过程中路径无明显规划,不同路径规则下的机器人很容易发生碰撞,传统的路径规划方法需要预先设定规则,规划完整路径,才能完成碰撞避免,没有考虑随机性运动带来的无规则问题。为了避免上述缺陷,提出了一种主从控制算法的随机移动机器人运动碰撞的避免方法。利用栅格划分方法,进行随机移动机器人的路径规划。利用主从控制方法,实现随机移动机器人运动碰撞的避免。实验结果表明,利用改进算法进行随机移动机器人路径规划,能够充分地避免机器人发生运动碰撞的问题,从而提高了随机移动机器人运动路径规划的合理性。

In this paper, the avoidance method for robot collision was researched. The path in the process of robot random motion has no obvious planning. A collision occurs easily under the different path rules of the robot. In traditional path planning method, it needs to preset rules, plan the full path, to avoid collision. But it does not consider the irregularity rules of random movement. In order to avoid the above defects, in this paper, we proposed a collision avoidance method for random mobile robot motion based on master - slave control algorithm, Using the grid division method, the random path planning for mobile robot was able to be carried out. And then using master - slave control method, it can avoid collision caused by random mobile robot motion. Experimental results show that the algo- rithm presented in this paper on path planning for random mobile robot can greatly avoid the collision problem, thus improve the rationality of the path planning for random mobile robot.