基于激光雷达的移动机器人实时自动最优路线算法研究
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摘要
提出了一种基于激光雷达的移动机器人实时规划最优路线算法。激光雷达的高精度检测是利用发射端到接收端的脉冲信号往返时间差判断目标距离及其方位等信息,从而帮助机器人得到障碍物信息。利用全局路径规划A*算法与局部路径规划算法的结合,成功得出最优路径。该方法可以有效避免当目标点与障碍物距离较小时,机器人在障碍物前不断徘徊的问题,并且提高了机器人路径规划的时间效率和精度。实验证明了该算法的可行性。
A lidar-based real-time planning optimal route algorithm for mobile robots is proposed. The high-precision detection of the laser radar uses the round-trip time difference of the pulse signal from the transmitting end to the receiving end to determine the target distance and its orientation,thereby helping the robot to obtain obstacle information. Using the combination of the global path planning A* algorithm and the local path planning algorithm,the optimal path is successfully obtained. The method can effectively avoid the problem that the robot continuously sliding in front of the obstacle when the distance between the target point and the obstacle is small,and improve the time efficiency and precision of the robot path planning. The experiment proves the feasibility of the algorithm.
A lidar-based real-time planning optimal route algorithm for mobile robots is proposed. The high-precision detection of the laser radar uses the round-trip time difference of the pulse signal from the transmitting end to the receiving end to determine the target distance and its orientation,thereby helping the robot to obtain obstacle information. Using the combination of the global path planning A* algorithm and the local path planning algorithm,the optimal path is successfully obtained. The method can effectively avoid the problem that the robot continuously sliding in front of the obstacle when the distance between the target point and the obstacle is small,and improve the time efficiency and precision of the robot path planning. The experiment proves the feasibility of the algorithm.
引文
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[14]仇恒坦,平雪良,高文研,等.构建移动机器人地图的多传感信息融合算法研究[J].机械制造,2017,55(8):1-4.
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[2]郭晓波,翟雁,吴丽娜.基于激光雷达信息的机器人障碍物检测[J].激光杂志,2017,38(9):58-60.
[3]杜钊君,吴怀宇.基于激光测距与双目视觉信息融合的移动机器人SLAM研究[J].计算机测量与控制,2013,21(1):180-183.
[4]章志诚,杜昌平.基于激光雷达的多旋翼飞行器实时避障系统[J].计算机测量与控制,2016,24(9):117-121.
[5] TEO T A,HUANG S H.Automatic Co-Registration of Optical Satellite Images and Airborne Lidar Data Using Relative and Absolute Orientations[J]. IEEE Journal of Selected Topics in Applied Earth Observations&Remote Sensing,2013,6(5):2229-2237.
[6] CHEN W H,LIU Tao,WANG Jianhua,et al. Sensor signal pro-cessing and omnidirectional locomotion control of a bioinspired hexapod robot[J]. Zhejiang Daxue Xuebao(Gongx-ue Ban)/Journal of Zhejiang University(Engineering Sci-ence Edition,2015,49(3):430-438
[7] ZHANG Yong,GONG Dunwei,ZHANG Jianhua. Robot path planning in uncertain environment using multi-objective particle swarm optimization[J].Neurocomputing,2013,103(2):172-185.
[8] PEI Fujun,LI Haoyang,CHENG Yuhang. An improved Fast SLAM system based on distributed structure for autonomous robot navigation. Journal of Sensors,2014,2014:456289.
[9]张海涛,程荫杭.基于A*算法的全局路径搜索[J].微计算机信息,2007,23(17). 238-239.
[10] GHANI M F A,SAHARI K S M,KIONG L C.Improvement of the 2D SLAM system using Kinect sensor for indoor mapping[C]//International Symposium on Soft Computing and Intelligent Systems.IEEE,2015:776-781.
[11]王权,胡越黎,张贺.基于ROS与Kinect的移动机器人同时定位与地图构建[J].计算机应用研究,2017,34(100):3184-3187.
[12] MANSOUR S M B,SUNDARAPANDIAN V,NACEUR S M.Design and control with improved predictive algorithm for obstacles detection for two wheeled mobile robot navigation[J].International Journal of Control Theory&Applications,2016,9(38):37-54.
[13] CHEN Xiao,REN Weiwu,LIU Mingyang,et al.An obstacle detection system for a mobile robot based on radar-vision fusion[C]//Proceedings of the 4th International Conference on Computer Engineering and Networks.[S. l.]:Springer International Publishing,2015:677-685.
[14]仇恒坦,平雪良,高文研,等.构建移动机器人地图的多传感信息融合算法研究[J].机械制造,2017,55(8):1-4.
[15] PINHEIRO P,WAINER J,CARDOZO E,et al.Arrangement map for task planning and localization for an autonomous robot in a large-scale environment[C]//IEEE International Conference on Control Science and Systems Engineering.IEEE,2015:13-17.