基于随机运动障碍避碰规则的机器人路径规划
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摘要
针对存在随机运动障碍的复杂动态环境,提出了一种改进的机器人路径规划新方法。对于随机运动障碍,综合考虑机器人与障碍物的相对位置及相对速度,设计一种新的动态障碍避碰规则,使机器人安全地避开障碍,并避免大量迂回路径;对于匀变速运动目标,采用改进的人工势场法,引入相对速度及加速度因素,使机器人能追上目标并保持同步运动。基于Matlab的仿真实验验证了所提方法的有效性。
An improved method for path planning of robots is proposed for use in complex and dynamic environment with randomly moving obstacles. In order to avoid obstacle safely without too much circuities,a new rule is used for avoiding randomly moving obstacles with consideration of the relative position and velocity between the robot and obstacles. To the object moving with uniformly variable speed,an improved artificial potential method is adopted with consideration of the relative velocity and acceleration,which can help the robot to keep pace with the object. The simulation results based on Matlab platform show the effectiveness of the algorithm.
An improved method for path planning of robots is proposed for use in complex and dynamic environment with randomly moving obstacles. In order to avoid obstacle safely without too much circuities,a new rule is used for avoiding randomly moving obstacles with consideration of the relative position and velocity between the robot and obstacles. To the object moving with uniformly variable speed,an improved artificial potential method is adopted with consideration of the relative velocity and acceleration,which can help the robot to keep pace with the object. The simulation results based on Matlab platform show the effectiveness of the algorithm.
引文
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[12]徐望宝,张进,陈雪波.复杂动态环境下基于改进的Cautious Bug算法的机器人路径规划[J].信息与控制,2014,43(4):398-404.
[2]VAMSIKRISHNA G,MANFRED H.A temporal potential function approach for path planning in dynamic environments[C]//Proceedings of IEEE International Conference on Systems,Man,and Cybernetics,San Antonio,2009:3605-3611.
[3]殷路,尹怡欣.基于动态人工势场法的路径规划仿真研究[J].系统仿真学报,2009,21(11):3325-3328,3341.
[4]徐腾飞,罗琦,王海.基于向量场的移动机器人动态路径规划[J].计算机科学,2015,42(5):237-244.
[5]BODHALE D,AFRULPURKAR N,THANH N T.Path planning for a mobile robot in a dynamic environment[C]//Proceedings of IEEE International Conference on Robotics and Biomimetics Bangkok,2008:2115-2120.
[6]李擎,张超,韩彩卫,等.动态环境下基于模糊逻辑算法的移动机器人路径规划[J].中南大学学报:自然科学版,2013,44(s2):104-108.
[7]CAI W B,ZHU Q B,HU J.Path planning based on biphasic ant colony algorithm and fuzzy control in dynamic environment[C]//The Second International Conference on Intelligent Human-Machine Systems and Cybernetics,2010:333-336.
[8]王泽兵,杨卫,秦丽,等.动态环境下移动机器人导航行为函数建模[J].中北大学学报:自然科学版,2014,35(5):547-552.
[9]KO N Y,LEE B H.Avoidability measure in moving obstacle avoidance problem and its use for robot motion planning[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems'96,IROS96,IEEE,1996:1296-1303.
[10]CONN R A,KAM M.Robot motion planning on N-dimensional star worlds among moving obstacles[J].IEEE Transactions on Robotics and Automation,1998,14(2):320-325.
[11]江万里,熊蓉,褚健.复杂动态环境下基于侧滑力的局部路径规划[J].浙江大学学报:工学版,2007,41(10):1609-1614.
[12]徐望宝,张进,陈雪波.复杂动态环境下基于改进的Cautious Bug算法的机器人路径规划[J].信息与控制,2014,43(4):398-404.