智能移动机器人避障路线自动规划系统设计

Design of Automatic Planning System for Obstacle Avoidance Route of Intelligent Mobile Robot

为缩短智能移动机器人避障规划路线过长问题,研究设计双优化蚁群算法的智能移动机器人避障路线自动规划系统。通过激光测距传感器采集机器人工作环境信息,构建作业空间模型,建立移动机器人运动坐标系,采用双优化蚁群算法进行机器人避障路线规划,通过概率转移函数搜索最优路径点,输出最优避障路线规划结果。测试结果表明:系统规划的避障路线可以有效实现避障行进,且长度较短,平均为20.45 m,具有比较明显的优越性。

To shorten the lengthy obstacle avoidance planning route of intelligent mobile robots,an automatic obstacle avoidance planning system of intelligent mobile robots based on double optimization ant colony algorithm is designed.The working environment information of the robot is collected by laser ranging sensor,a workspace model is built,and the moving coordinate system of the mobile robot is established.The double optimized ant colony algorithm is applied to plan the robot obstacle avoidance route,the optimal path point is searched by the probability transfer function,and the optimal obstacle avoidance route planning result is output.The system test results show that the obstacle avoidance route planned by the system has obvious advantages of effective obstacles avoidance and shorter route length,which is as short as 20.45m on average.