机器人探测未知环境的螺旋形导航算法

A Spiral Navigation Algorithm for Robotic Exploration of Unknown Environment

在很多情况下,机器人对作业环境并没有预先了解,这就使得机器人对环境的探测成为必要。因此,设计合理的导航算法,从而使机器人在较短的时间内能够较完整地构建出环境地图,为机器人完成作业提供了基础。本文提出了一种基于虚拟力的螺旋形导航算法,采用超声距离传感器,对未知环境进行实时在线的探测,采用本算法可以避免机器人之间以及机器人与障碍物发生碰撞。本文推导了机器人的运动学和动力学方程。仿真对比实验表明了该算法的有效性。本文进行了若干作业任务的仿真实验,使算法得到了进一步验证。

In many cases, robots have no prior knowledge of the environment, it is necessary that the robot need to explore the environment. Navigation algorithms for robots to map the environment completely in short time play a very important role in the robotic task. A spiral navigation algorithm based on virtual force is proposed in this paper to explore the unknown environment using rang sensors. Collisions between robot and obstacle or between robots can be avoided with the application of the proposed navigation rules. The kinematics and dynamics equations of the robot adopting the algorithm are also given. The simulation experiments demonstrate the operation of the algorithm. Several simulation experiments of various representative robotic tasks are carried out, based on the explorative navigation algorithm, which successfully validate the virtual force based spiral navigation algorithm.