摘要
针对室内环境中经常出现的移动机器人搜索人的问题,设计并实现了一种在栅格地图基础上基于改进的遗传算法和A~*算法进行路径规划的算法。移动机器人采用开源机器人操作系统(ROS)框架,在SLAM的基础上完成机器人自定位以及校准、路径规划和导航。对室内环境栅格地图应用单元分割法得到一系列以障碍物分割开的子区域,应用遗传算法规划最优的区域间转移序列,同时使用A~*算法进行两点之间的导航规划。仿真与实验结果证明:该算法可以在已知的室内环境中提供最优化的搜索路径,在短时间内完成找到人的任务。
Aiming at the problem of mobile robot searching human in indoor environment, a gird model was built and a path planning method based on the modified genetic algorithm and improved A ＊ algorithm was proposed. The mobile robot adopted open source robot operating system, completing autonomous positioning, calibration, path planning and navigation based on SLAM. The grid map was divided into several unit regions by using boustrophedon cellular decomposition. Then, a unit region planning method based on genetic algorithm was applied to generate the region transition sequence. Meanwhile, the optimal path between two points was generated by improved A ＊ algorithm. The simulation and experiment results verify that this method can provide the optimized search path in the known indoor environment effectively and find human in a short time.
出处
《轻工机械》
CAS
2017年第3期40-44,48,共6页
Light Industry Machinery
基金
国家自然科学基金资助项目(61328302)
关键词
室内移动机器人
机器人操作系统
A＊算法
遗传算法
indoor mobile robot
ROS （ robot operating system）
A ＊ algorithm
genetic algorithm
