摘要
针对在未知的室内环境,其不可预知性或不确定性给家用服务机器人实时环境感知和定位带来了巨大的问题,直接影响到机器人导航的效果。移动机器人不仅要完成避开附近的移动障碍物,而且要进行局部规划或局部路径修正。将自主移动机器人其功能研发分为如下:理解自己的状态和外部环境信息,从而实现实时运动控制决策,避障,找到最优路径;在栅格地图表征环境,采用Wavefront方法进行路径规划自主移动和轨迹跟踪。对服务机器人导航与路径规划技术研究对于提高智能服务机器人的技术水平,促进智能机器人产业的发展是非常重要的。
For the unknown indoor environment,the unpredictability or uncertainty of real-time environment for home service robot perception and positioning has brought a huge problem,a direct impact on the effect of robot navigation.Not only mobile robot avoids the nearby mobile obstacles,but also to local planning or local path correction.the research and development of autonomous mobile robot are divided into the following steps:to understand their own state and external environment information,in order to achieve real-time motion control decision-making,obstacle avoidance and find the optimal path;In the raster map representation environment,using Wavefront method for path planning autonomy Movement and trajectory tracking.Research on service robot navigation and path planning technology is very important to improve the technical level of intelligent service robot and promote the development of intelligent robot industry.
作者
何宁
赵彬
毛欣
HE Ning;ZHAO Bin;MAO xin(Department of Electrical Engineering,Chongqing Water Resources and Electric Engineering College,Chongqing Yongchuan 402160,China;SIASUN Robot&Automation Co.,Ltd.,Liaoning Shenyang 110168,China;State Grid Chongqing Electric Power Company Yongchuan branch,Chongqing Yongchuan 402160,China)
出处
《机械设计与制造》
北大核心
2018年第10期249-251,256,共4页
Machinery Design & Manufacture
基金
国家科技重大专项硅片集成传输系统研发和示范应用(2014ZX02103)
国家高技术研究发展863计划(2012AA041405)
沈阳市工业科技攻关项目(F12-010-2-00)
