基于动态窗口法的移动机器人自动避障导航研究

Research on Automatic Obstacle Avoidance Navigation of Mobile Robot Based on Dynamic Window Approach

在移动机器人控制系统中,机器人周围的环境会随机器人的运动不断地变化,从而影响机器人下一步的运动控制问题针对这一问题,设计并实现了基于动态窗口法的移动机器人自动避障导航系统该系统采用树莓派作为核心控制器,运动电机采用STM32作为控制器进行电机驱动控制,利用激光雷达采集机器人周围不断变化的环境,采用超声波、陀螺仪等传感器获取自身定位信息,结合开源机器人操作系统(ROS)快速实现基于动态窗口法的移动机器人局部路径导航控制「仿真验证以及现场试验调试结果表明,该移动机器人控制系统能够有效、精确地定位,并能够实现局部路径及时避障导航功能与现有机器人控制系统相比,该系统具有易开发、低成本、反应迅速、控制精度高等优点。

In the control system of mobile robot,with the robot’s motion,the environment around the robot will change constantly,which will affect the robot’s next motion control.Aiming at this problem,an automatic obstacle avoidance navigation system for mobile robot based on dynamic window method is designed and implemented.The motion control system of the robot uses Raspberry-Pi as the core controller.The motion motor applies STM32 as the controller to drive the motor,and the laser radar is used to collect the changing environment around the robot.Using ultrasonic,gyroscope and other sensors to obtain their own positioning information,combined with the open source robot operating system(ROS),the local path navigation control of mobile robot based on dynamic window method is quickly realized.After simulation and field test,the control system of the mobile robot can effectively and accurately locate the local path and avoid obstacles in time.Compared with the existing robot control system,the advantages of easy development,low cost,rapid response and high control accuracy are achieved.