移动机器人沿墙算法研究综述

A survey of wall-following algorithm for mobile robot

沿墙算法是一种局部路径规划算法,算法的全局收敛性往往优于其他传统方法。为了促进沿墙算法在路径规划领域中的研究,综述了运用沿墙算法规划路径的移动机器人的最新进展和研究成果。根据沿墙算法的避障策略与实现,将沿墙算法分为基于目标方向角的沿墙算法、基于M-Line的沿墙算法、基于最优避障方向的沿墙算法、基于历史信息的沿墙算法以及基于多算法融合的沿墙算法,并对各类算法优缺点进行总结。然而在实际环境中,由于仿真环境的理想化、行为协作机制的僵硬化及传感器的干扰性,沿墙算法在实际应用中与理论结果间存在较大差距。考虑到现有算法仍存在诸多不足,从开发适用于复杂实际环境的沿墙算法、探索更高效合理的多行为切换机制及降低实际环境中传感器噪声影响这3个方面展望了沿墙路径规划算法的未来发展趋势。

The wall-following algorithm is a local path planning algorithm,and its global convergence is often better than other traditional methods.In order to promote the research of wall-following algorithm in the field of path planning,the latest progress and research results of mobile robots using wall-following algorithm to plan paths were reviewed.According to the obstacle avoidance strategy and implementation of wall-following algorithm,wall-following algorithm was divided into the wall-following algorithm based on the target direction angle,the wall-following algorithm based on M-Line,the wall-following algorithm based on the optimal obstacle avoidance direction,the wall-following algorithm based on historical information and the wall-following algorithm based on multi algorithm fusion,and the advantages and disadvantages of various algorithms were summarized.However,in the actual environment,due to the idealization of the simulation environment,the rigidity of the behavior cooperation mechanism,and the noise of sensors,there is a big gap between the wall-following algorithm in practical application and the theoretical results.Considering that there are still many shortcomings in the existing algorithms,the future development trend of the wall-following algorithm was prospected from three aspects,namely developing a wall-algorithm suitable for complex real environments,exploring a more efficient and reasonable multi-behavior switching mechanism and reducing the impact of sensor noise in real environments.