摘要
针对移动机器人路径规划问题,结合细菌觅食趋化过程的相似性,提出了一种类似细菌趋化行为的移动机器人路径规划方法。该方法模拟细菌的觅食环境,为机器人建立类似的障碍物轮廓和目标轮廓模型,通过设置一定的趋向和避障权重,并结合智能机器人的自身传感器技术,为机器人在简单甚至复杂的环境下提供相应的路径运动策略,达到实现实时导航任务的目的。在高斯势场环境下进行仿真实验,与Sierakowski的方法进行比较,实验结果表明该方法获取的路径具有更好的安全性、实时性和平滑性,说明了所提方法不仅能实现机器人的路径规划任务,而且规划的路径能使机器人在障碍物密集的区域内灵活调整位姿。
In order to solve the problem of mobile robot path planning , this paper puts forward a method of mobile robot path planning based on bacterial chemotaxis .Simulating the bacterial foraging environment , this method builds similar obstacle contours and the target contour models .Through setting some tendency and obstacle weight and combining intelligent robot sensing technology , it can offer relative sports strategy for mobile robots under sim-ple or even complex environments and thus utilizes real-time navigation .By using this method in the Gaussian po-tential environment , the robot can not only find its path , but it can also adjust its position and attitude under com-plicated environments as compared with the Sierakowski method , and the experimental results show that this method can get a better path with security , real-time performance and flatness .
出处
《智能系统学报》
CSCD
北大核心
2014年第1期69-75,共7页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(60905066)
科技部国际合作项目(2010DFA12160)
重庆市科技攻关计划资助项目(CSTC2010AA2055)
关键词
机器人
细菌趋化
高斯势场环境
避障
路径规划
robot
bacterial chemotaxis
Gaussian potential environment model
obstacle avoidance
path planning
