物品自动运送机器人原型系统的局部路径规划研究

Research of the Local Path Planning for an Autonomous Conveying Robot (ACR) Prototype System

描述了一种基于多边形环境模型 ,以机器人运动过程中的转弯次数最少为优化目标 ,采用广度优先搜索技术的 MT局部路径规划算法以及相应的复杂实际环境建模方法 ,并将其应用于目前正在研制的物品自动运送机器人 (ACR)原型系统。仿真实验表明 ,本文所描述的 MT算法以及相应的环境建模方法对

This paper presents a Min Turn(MT) local path planning algorithm that adopts BFS algorithm to search an optimal path in a two dimensional polygon environment, and the corresponding method for representing complex environment. We proposed a search algorithm that choose paths by the number of turns needed to reach the goal, and then, the best one in terms of distance and/or rotation angle. We also proposed a tree type representation of the environment by considering obstacles to be enclosed by their peripheral rectangle, and defining different types of obstacles and vertices. The MT algorithm and environment representation method were applied to our autonomous conveying robot(ACR) prototype system. Simulation results show that it is an appropriate solution to the local path planning problem of the ACR prototype system.