摘要
针对当前机器人最优移动路径选择机制存在误差,工作效率低的缺陷,设计了基于激光雷达测距的机器人最优移动路径选择机制。首先利用人工势场方构建机器人的移动模型,并采用激光雷达测距技术建立栅格地图,然后将障碍物和机器人间的数据引入到坐标系中,经坐标转换映射到栅格地图中,建立障碍物与栅格地图之间联系;最后采用代价函数对机器人移动方向做出评价,根据评价结果选择移动路径,达到躲避障碍物的目的。结果表明,本文方法可以躲避机器人移动路径上障碍物,避障时间短,获得最优的机器人移动路径,对环境的适应性强。
Regarding the shortcomings of current robot optimal path selection mechanism,such as errors and low efficiency,a robot optimal path selection mechanism based on lidar ranging is designed.Firstly,the mobile model of the robot is built by using artificial potential field,and the grid map is built by using lidar ranging technology.Then,the data between the obstacle and the machine is introduced into the coordinate system,which is mapped to the grid map by coordinate transformation,and the relationship between the obstacle and the grid map is established.Finally,the mobile direction of the robot is evaluated by using cost function.According to the evaluation results,the mobile path is chosen to avoid obstacles.The results show that this method can avoid the obstacles on the robot’s mobile path,and the time of avoiding obstacles is short.It can get optimal robot’s mobile path and has strong adaptability to the environment.
作者
李鹏
赵鲁燕
LI Peng;ZHAO Luyan(Guilin University of Electronic Technology,Guilin Guangxi 536000,China)
出处
《激光杂志》
北大核心
2021年第1期183-186,共4页
Laser Journal
基金
国家自然科学基金面上项目(No.61474032)。
