自主移动机器人动态避障轨迹规划方法

Dynamic Obstacle Avoidance Trajectory Planning Method for Autonomous Mobile Robot

本文提出一种基于时间弹性带的轨迹规划方法,用于求解移动机器人动态避障问题。轨迹规划需要考虑环境中不确定障碍等因素,因此该方法包含机器人运动速度、运动状态、障碍物等多种约束条件。结合多种约束条件,完成从起始点到目标点的无碰撞轨迹规划,移动机器人实现平稳无碰撞运动。实验结果表明,该方法具有优越的运动学特性和良好的避障规划效果。

In this paper,a trajectory planning method based on time elastic band is proposed to solve the dynamic obstacle avoidance problem of mobile robot.Trajectory planning needs to consider uncertain obstacles and other factors in the environment.Therefore,this method includes many constraints such as robot motion speed,motion state,obstacles and so on.Combined with a variety of constraints,the collision free trajectory planning from the starting point to the target point is completed,and the mobile robot realizes smooth collision free motion.Experimental results show that this method has superior kinematic characteristics and good obstacle avoidance effect.