摘要
研究了全局环境未知情况下的移动机器人实时导航问题 .将栅格法描述环境与基于滚动窗口的路径规划相结合 ,提出了一种新的移动机器人导航方法 .将超声传感阵列探测到的环境信息以基于栅格的概率值进行表示 ,利用不确定性证据推理对其进行数据融合 ,得到机器人的局部环境信息 ;在此基础上 ,采用基于滚动窗口的方法进行机器人路径规划 ,实现机器人的实时导航 .
Real time navigation of mobile robot in globally unknown environment is studied. A new method for mobile robot's navigation is presented with the combination of describing environment based on grids and path planning based on rolling windows. The environment information detected by sonar is represented in the form of probability based on grids, and is fused by evidential reasoning with uncertainty based on Dempster Shafer theory to describe the local environment around the mobile robot. And then, path planning based on rolling windows is implemented to realize real time navigation of mobile robot. Simulation and experiment results show that the method is effective.
出处
《机器人》
EI
CSCD
北大核心
2003年第6期516-520,共5页
Robot
基金
国家"8 63"计划资助 (2 0 0 2AA42 31 60 )
中国科学院知识创新工程资助项目 (2F0 2J0 1 )
关键词
导航
数据融合
预测控制
路径规划
Navigation
data fusion
predictive control
path planning
