基于改进势场栅格法的清洁机器人路径规划算法研究

Research on Path Planning Algorithm for Cleaning Robot Based on Improved Potential Field Grid Method

针对人工势场法中机器人在障碍物附近震荡而无法到达目标点、存在陷阱区域、临近的障碍物之间不能发现路径等问题,提出了一种改进的势场栅格算法.结合牛耕式全覆盖路径规划算法使机器人在已知环境势场模型中快速静态规划出全局最优清扫路径,通过激光雷达与势场合力运算使其具备无碰撞的避障能力.在实际系统的实验验证结果表明,本算法能够使清洁机器人以更短路径遍历环境及增强避障能力,提高了清洁机器人的安全性与工作效率,具有实际应用价值.

An improved potential field grid method is presented in this paper to solve the problems of gen-eral artificial potential field method including the trap situation, no path existing among adjacent obstacles and not up to the object near the obstacle. With the full coverage path planning algorithm of cattle farm-ing, a global optimal sweep path of the robot in the known environment model is given. By combining the laser radar and the potential field force, it has the ability to avoid dynamic collision. The verifying experi-ment indicates that the algorithm has practical value. It can make cleaning robot in a shorter path travers-al environment and enhance the obstacle avoidance capability, improve safety and efficiency of cleaning robot.