摘要
对自主轮式移动机器人纵横两个方向路径进行规划,能够解决机器人单向路径规划弊端,提高执行搜索任务效率。对移动机器人纵横向目标路径的规划,需要对移动机器人基本行为进行融合,获取纵横向移动行为权值,完成机器人目标路径规划。传统方法将该问题转换为曲线有限个点生成位置优化问题,对问题进行求解,但忽略了对移动行为权值的获取,导致规划精度偏低。提出一种基于粒子群优化的自主轮式移动机器人纵横向目标路径规划方法。构建自主轮式移动机器人运动模型和障碍物拓展模型,利用二维笛卡尔栅格描述当前机器人所处环境,对移动机器人纵横向目标路径规划过程中的基本行为进行融合,依据传感器采集的实时环境信息获取移动行为的权值。实验结果表明,所提方法可以快速解决障碍物环境下自主轮式移动机器人横纵两个方向目标路径规划问题,且有效缩短了目标路径规划时间。
The traditional method ignores the acquisition of the weight of moving behavior, which leads to the low planning accuracy. Therefore, a method of path planning for vertical and horizontal target of autonomous wheeled mobile robot based on particle swarm optimization was proposed. Firstly, the motion model of autonomous wheeled mobile robot and the model of obstacle expansion were constructed. Secondly, two-dimensional Cartesian grid was used to describe the current environment of robot. Then, the basic behavior during path planning for vertical and horizontal target of mobile robot was fused. Finally, the weight of mobile behavior was obtained based on the real-time environmental information collected by the sensor. Simulation results show that the proposed method can quickly solve the path planning problem for vertical and horizontal target of autonomous wheeled mobile robot under the obstacle environment. Meanwhile, it can effectively shorten the planning time of target path.
作者
赵澄东
ZHAO Cheng-dong(Shangqiu Institute of Technology,Shangqiu Henan 476000,China)
出处
《计算机仿真》
北大核心
2019年第6期306-309,382,共5页
Computer Simulation
基金
基于运动微分约束的机器人纵横向目标路径规划研究(182102210481)
关键词
自主
轮式移动机器人
纵横向
目标路径规划
Autonomous
Wheeled mobile robot
Vertical and horizontally
Target path planning
