车式机器人个体避开凸多边形障碍物的免碰转角的确定

Research of Instantaneous Safe Turning Angle for Car-like Robot to Aviod Polygon Obstacles

设置在机器人不同侧面的机器人传感器的角色有着很大的不同。在同一侧 ,来自不同传感器的距离差意味着关于环境的重要信息。对于在同一侧面的同一水平面的传感器 ,传感器的位置在决定机器人的安全转角上扮演着关键角色。在本文中 ,我们讨论了这些问题 ,提出并证明计算瞬时转角的公式。车式机器人被赋予不同的避开障碍物的能力。这些能力的自组织融合能够使机器人安全地转向宽阔的空间 ,然后在平行于或近于平行于静态或动态凸多边形障碍物的边缘的方向前进或后退。所有的实时信息来自于各侧面的两个距离传感器 ,没有任何环境的先验信息。本文中推导的公式具有普遍的适用性。

The position of the sensor plays a crucial role i n deciding the instantaneous safe turning angle of the robot. A series of formul ae computing the instantaneous turning angle were proposed and proved. The diffe rent functions of these turning angles were discussed. The car-like robot is end owed with different abilities during the avoidance of obstacles. And the fusion or self-organization of these abilities makes the robot safely turn to the broad er space and then move forward or backward in the direction paralleling to the e dge of a static or moving unknown polygon obstacle.These formulae are suitable f or general unknown environment, static or dynamic.